JP3086719U - Rotary drive - Google Patents

Abstract

(57) [Summary] (Problem corrected) [PROBLEMS] To provide a stator having a housing and a plurality of magnets, rotatable around a rotation axis in the housing and relative to the stator along the rotation axis. Provided is a rotary drive device including a moving rotor. The apparatus includes a user operation unit, such as a knob, which is rotatable with a rotational degree of freedom about a rotation axis and is linearly movable along the rotation axis. The driving device combined with the operation unit outputs a force with a degree of freedom of rotation about the axis. And there, the drive includes a shaft 53 coaxial with the axis of rotation. The shaft 53 of this drive device is moved linearly along the axis of rotation to match the linear movement of the operating part. The rotation sensor detects a rotation position of the operation unit, and the sensor detects a linear movement of the operation unit along a rotation axis.

Description

[Detailed description of the invention]

[0001]

[Background and the present invention]

 The present invention relates to a rotary drive.

[0002] Control knobs are used in many different types of devices for a variety of different functions. Often, a rotary control knob provides a degree of control to a user who has not adapted to other types of controls, such as button and switch controls. For example, many users prefer to use the rotary control knob to adjust the volume of the sound output from a stereo or other sound output device. The reason for this is that it makes it possible to finely and roughly adjust the volume relatively easily, especially compared to button control. Both rotary and linear (slide) knobs are used in a variety of applications, such as kitchen and other home applications, such as video editing / rewinding devices, remote controls, televisions, and computer interface controls. There are also many types of knobs that allow push-in and pull-out functions that allow additional control over the device.

[0003] Some control knobs are provided with force (kinetic) feedback and tactile feedback, collectively referred to herein as "haptic feedback". The haptic feedback device gives the user operating the knob a physical sensation. Typically, the motor is connected to a knob and connected to a controller such as a microprocessor. The microprocessor receives knob position and direction signals from the knob sensor and sends appropriate force feedback control signals to the motor. The motor then provides power to the knob. In this way, a variety of controllable sensations are output to the knob, such as a detent or spring force.

One problem that arises with prior art control knobs is that the knob is limited to basic rotation and / or push-pull operations. This limits the user's control choices to simple devices that do not allow for a variety of choices. Most mechanical knobs have a very limited feel. In other words, they do not have the ability to feel the difference, depending on the interface context. In addition, if force feedback is provided to the knob, the limited control functionality of the knob will provide the user with a force control to provide additional control over the desired function. Limit full use of feedback. Furthermore, many of the well-known sensations of force feedback are not enough to handle some of the selection functions required by the knob. There, often multiple controls over functions and selections are provided, with limited knob movement.

[0005]

[Summary of the invention]

 The present invention provides a knob control interface that allows a user to control the functions of the device in a variety of ways. Embodiments of the knob control include a mechanism that provides additional degrees of freedom for the knob.

[0006] More specifically, in one embodiment, the knob control of the present invention includes a knob that is rotatable in rotational degrees of freedom about an axis extending through the knob. The knob is also movable in a transverse plane substantially perpendicular to the axis. The mechanism provides a special lateral movement to the movement of the knob in the lateral plane. The mechanism can include a gate portion and a plunger portion. The plunger section interlocks with the gate section to provide special lateral orientation. The mechanism also includes two sliders slidably interlocked with each other, and the mechanism allows movement in a horizontal plane. A rotation sensor detects the position of the knob in the rotational degree of freedom, and a lateral sensor detects the position of the knob, particularly in the lateral direction. Preferably, the gate portion comprises a plurality of grooves. Each groove coincides with one of the planned lateral directions. Also there, the plunger portion is interlocked with one of the grooves. In some embodiments, the gate and plunger portions are located away from an axis extending through the knob. The second gate and plunger section are then located on opposite sides of the shaft for additional stability. In a preferred embodiment, the drive is combined with a knob and outputs a force with a rotational degree of freedom about an axis.

[0007] Another embodiment of the present invention provides a novel drive and a device comprising such. The device comprises a user control, such as a knob, rotatable with a rotational degree of freedom about the axis of rotation and movable linearly along the axis of rotation. The driving device combined with the operation unit outputs a force with a rotational degree of freedom about the axis. And there, the drive includes a shaft coaxial with the axis of rotation. The shaft of the drive is moved linearly along the axis of rotation to match the linear movement of the operating part. The rotation sensor detects a rotation position of the operation unit, and the sensor detects a linear movement of the operation unit along a rotation axis. The drive shaft is tightly coupled with the drive rotor so that the rotor and the shaft can move linearly and simultaneously along the axis of rotation. And there, the stator of the drive is grounded.

In another embodiment of the present invention, the control device includes an operation unit, such as a knob, which is operated or physically touched by a user. The operation unit can move along the rotation axis or rotate around the rotation axis. The sensor detects the rotation of the operation unit, and includes a gear having two interlocked gears. Detect a group of. The gears transmit rotational movement from the knob to the sensor, and when the knob is moved, the gears interlock with each other. The drive may be included in a device that outputs a rotational force to the knob.

The present invention provides a control interface device having a better control function for a user. The linear and lateral degrees of freedom of the knob allow the user to select functions, settings, modes and options without leaving his hand from the knob or other controls. Force feedback is also added to the controls to give the user better control and to communicate to the user about options and selections through the feel of touch. Innovations in drives and transmissions make it possible for the controls to be moved with more degrees of freedom and with little backlash or friction. And in this way, the embodiment of the power feedback of the present invention is promoted.

[0010] These advantages of the present invention will become apparent to those skilled in the art by reading the following detailed description of the invention and examining several drawings drawn.

[0011]

FIG. 1 shows a perspective view of an example of a control panel 12 for an electronic device, which is a control panel with a control knob of the present invention. The control knob is operated by a user trying to control various functions of the device. In the described embodiment, the device is a controller for various vehicle systems. For example, audio output from speakers connected to this device, environmental functions for vehicles (air conditioning, heating, etc.), mechanical functions for adjusting and moving vehicle equipment (mirrors, seats, sunroofs, etc.) Other functions used in the car, such as visual functions (map display, vehicle status display, menu and list selection, web page display and navigation, etc.), and other functions such as car security and safety. For example, a common function of this device is to play sound from one or more media or signals. For example, cassette tapes, digital audio transmission (DAT) tapes, compact discs (CD's), other optical discs, radios, broadcast stations and other signals traveling over the air from wireless network links. This device may include the ability to display information from the vehicle and the effects from other systems of the vehicle, and the like.

Alternatively, the controlled device can be a variety of other electronic or computer devices. For example, the device can be a home appliance. For example, television sets, microwaves and other kitchen appliances, washers, dryers, home stereo components and home stereo systems, home computers, personal digital assistants, cellular phones, television set-top boxes, video game consoles, Remote control of all devices, controls and interfaces for personal computers and console games, home automation systems (lights, garage doors, keys, equipment, etc.), remote controlled devices such as telephones, copiers, model cars Control devices, toys, video and film editing and playback systems, and more. This device is physically combined with the control panel 12. Alternatively, the panel 12 may be physically separated from the device and communicate with devices using signals carried through wires and cables, wireless transmitters and receivers, and the like. This device can be used in cars, homes, offices, laboratories, arcades, hospitals, and other settings.

The control panel 12 is accessible by a user to operate the functions of the device to be controlled. The panel 12 is used, for example, in a vehicle interior such as above and below a dashboard, a center console of a vehicle, and other convenient places. Alternatively, panel 12 may itself be the surface of the outer housing of the controlled device, for example, a stereo unit.

A display 14 may be provided on the controlled device and / or panel 12 to provide information to a user associated with the controlled device or system and / or other systems connected to the device. Are combined. For example, options and modes 20 are displayed to indicate which function of the device is currently selected and which is to be adjusted through manipulation of the knob. Such options are "Audio," "Map," "Internet," "Telephone," Power, etc., and the selection of one mode can also lead to a sub-mode menu. Other information 22, such as, for example, current audio volume, audio balance, radio frequency of the radio tuner, etc., may also be displayed. In addition, any information relating to additional functions of the device may be displayed. For example, it is a list 24 of items that can be selected by the user operating the control panel 12. In some embodiments, the display of a map or similar diagram may be displayed on the display 14 so that the user can steer the vehicle. In other embodiments, the display 14 can be another graphical environment controlled by a host computer or a separate monitor that displays a graphical user interface. Display 14 can be any preferred display device. For example, LED displays, LCD displays, gas plasma displays, CRTs, and other devices. In some embodiments, the display 14 allows the user to directly touch the images displayed on the surface of the display 14 to select their display and related settings and functions. And a touch-sensitive surface.

The control knob 26 allows the user to directly operate functions and set the device. Knob 26 is approximately cylindrical in the embodiment described and can be engaged by a user. Knob 26 may alternatively be implemented by a variety of different things. Among them are cones, spheres, dials, cubes, bars, etc. Knob 26 can also have a variety of different configurations on its surface. These include bumps, lines and other grips, and protrusions and parts extending from the surrounding surface. In addition, any of a variety of different sized knobs can be provided. For example, if a large amount of force is output to the knob, a large diameter cylindrical knob often makes it easier for the user to fit into the device. In the embodiment described, knob 26 rotates with a single rotational degree of freedom about an axis extending from the knob, for example, as shown by axis A, arrow 28. The user preferably grips or touches the peripheral surface 30 of the knob 26 and turns it by the desired amount. Force feedback is provided in this embodiment in this rotational degree of freedom, as described in more detail below. Multiple knobs 26 are provided on panel 12 in other embodiments. Each knob then provides a different or similar control function.

Further, the control knob 26 of the present invention allows for additional control functions for the user. The knob 26 can be moved by the user in one or more directions, preferably in a plane substantially perpendicular (orthogonal) to the axis of rotation A. (“Intersecting” or “lateral” movement) This lateral movement is indicated by arrow 32. For example, knob 26 can be moved in the four orthogonal directions shown and in four diagonal directions. Also, in other embodiments, it may be moved, for example, in only the two directions shown, or in other, fewer or more directions. In one embodiment, each lateral direction of the knob is spring loaded. The knob is then moved in one direction 32 and when the user releases the hand or stops exerting sufficient force on the knob, the knob returns to its central rest position. In other embodiments, the knob is provided without such spring bias so that the knob 26 can remain in any position until the user actively moves it to a new position.

This lateral movement of knob 26 allows the user to select additional settings and functions of the controlled device. In some embodiments, the additional control options provided by knob 26 may omit many other buttons and knobs, since functions previously assigned to buttons are now assigned to knob 26. For example, the user may want a cursor 34 or other visual indicator on the display 14 (eg, a pointer, selection box, arrow, or a high-brightness display of a selected character or image) on the display. Can be moved to selection.

In addition to the cursor positioning mode, the lateral movement of the knob 26 can directly control the value and intensity of the setting. For example, a leftward movement of the knob 26 will cause the frequency value of the radio station to decrease at a predetermined rate if the user continuously holds the knob 26 in the leftward direction. You can decrease or adjust the volume level. Moving the knob 26 to the right can similarly increase the value. In another example, once one of the information settings is selected, a submenu is displayed and the direction 32 of the knob 26 adjusts the air temperature, timer, cursor on the displayed map, etc. can do.

In another implementation, each of the eight directions corresponds to a category of the submenu, and when turning the knob is used to select an option in the selected menu, Each of the horizontal directions is used only to select a new menu. For example, categories such as "audio", "map", "temperature", and "cellular phone" may be provided in a car environment or may be allocated horizontally. Once the knob is moved one horizontal direction, a sub-menu category is selected, and for example, the knob moves the cursor in a list, selects a function, adjusts a value, It can be rotated to do other things. Other control schemes may be used. In one embodiment, the knob may move laterally a small distance in each of the eight directions from the center position. Other movement distances may be implemented in other embodiments.

[0020] Different modes can also be implemented. For example, the initial mode allows the user to control the cursor 34 while using the knob direction 32. Once the cursor is positioned at the desired setting, eg, the volume setting, the user can change the mode so that the direction 32 can control the setting itself, eg, to adjust a value. Any desired knob can be used to change modes. For example, the user can press knob 26 to select a mode (described below). In other embodiments, the user can press a separate button to switch modes, or some or all of the directions 32 can be used to select a mode. For example, the down direction can be changed to “volume” mode so that the user can turn the knob to adjust the volume, and the up direction can be changed to “radio frequency adjustment” mode. The left direction should be changed to a "balance" mode (to rotate the knob 26 to adjust the balance of the speaker stereo with respect to the audio output).

In addition, control knob 26 can be pushed (and / or pulled), preferably in degrees of freedom along axis A (or substantially parallel to axis A). This movement is then transmitted to axial switches and sensors. This provides the user with an additional way to select functions and settings without having to release his or her grip from the knob. For example, in one preferred embodiment, the user can move the cursor 34 or indicator on the display 14 using the transverse direction 32 or rotation of the knob 26. When the cursor is moved to the desired setting or area of the display, the user can press knob 26 to select the desired setting. This is much like a mouse button selecting an icon in a computer's graphical user interface. Or, the ability to push and pull can be beneficial in controlling the modes described above. This is because the user simply pushes or turns the knob while it is in the push mode, and later releases or restores the knob to select another mode. The modes described above can be switched by pushing or pulling the knob 26. The pushing and / or pulling function of the knob 26 may be provided by the return deflection of the spring. The knob then returns to its rest position after the user releases the knob. Alternatively, the knob may be implemented to remain in a pushed or pulled position until the user actively places the knob in a new position.

The knob 26 is preferably provided with force feedback, at least in the rotational degree of rotation of the knob. One completed version of the tactile knob interface described herein allows a user to intuitively control several interface modes with a single tactile knob. This allows the user to more easily navigate through complex menus and modes by adjusting the sensitivity of the knobs to clearly respond to the situation of the user's interface. For example, other interfaces may have a tactile sensation of a detent, while other modes may have a jog shuttle spring center sensation. By providing what is analogous to tactile sensation, this diverse feedback results in a distinct, superior user experience. The drive is desirably designed to provide maximum torque, taking into account the voltage and current of the power electronics and amplifier driving the drive.

Additional control buttons (not shown) and other controls may also be provided to allow a user to select different functions and settings of the device. For example, it comprises dials, knobs, linear slide knobs, hat switches, etc. Such additional controls, along with control knob 26, are used to provide additional selection and adjustment functions.

One embodiment of the present invention provides all of the tactile knob implementations described herein, along with voice recognition and command functions. Speech recognition / translation software / firmware can run on one or more processors of devices and interfaces, as is well known to those skilled in the art. Some types of functions are very compatible with controlling with a combination of voice and tactile augmentation. For example, modes such as audio mode, temperature control mode, etc. can be selected by voice. And, however, the user can use the tactile knob to adjust the value of, for example, the volume of the radio, temperature settings and other functions. This embodiment shows that some selections and adjustments are easier to make by voice, while others are generally easier to make using manual controls. Represent. In addition, such embodiments can maximize control over the device, while minimizing user attention shifting from other tasks, such as driving.

The sensor used for this knob has two basic purposes. Position and orientation information (and, in some embodiments, velocity and / or acceleration information) can be converted to local and / or local information to produce near-real haptic effects (as opposed to position-based effects). To transmit the knob position information to the host computer or processor for selection and operation in the environment where it is being performed by the host. Tactile effects perform best when high resolution sensors are used, eg, at least 1000 counts per full revolution. Because the knob is preferably a continuous rotating device, preferably with an infinite width of rotational movement, the encoder, rather than the potentiometer of a continuous turn, allows the movement between the maximum and minimum values. This is desirable because of the accuracy of the encoder and the low error rate. Other types of sensors may, of course, be used in other embodiments. These include magnetic sensors, analog potentiometers, and others. In some embodiments, with reference to FIG. 2 and described below, high amplification transmissions are used to provide better resolution, for example, belt drives, capstan drives, and the like. be able to.

For example, spring force, damping force, barrier force, vibration, detent, gravitational force, and many other types of force effects and sensations may occur when a user uses the knob mechanism described herein. Can be output.

[0027]

[Implementation of knob mechanism]

 Specific examples of some knob mechanisms are described below. It should be noted that the following embodiments are not the only embodiments of the present invention. For example, some embodiments include only transverse movement of knob 26, and do not include push and / or pull functions or force feedback functions. However, other embodiments may include only force feedback in conjunction with the movement of the knob in the transverse direction, or only force feedback in conjunction with the push and / or pull functions.

FIG. 2 is a perspective exploded view of a first embodiment 50 of the mechanism of the control knob 26 of the present invention that also provides tactile feedback to the user. Example 50 uses belt transmission for increased torque. For example, a four-to-one synchronous belt transmission is implemented in one implemented embodiment. This is effective for producing an effect with a stiff end-stop effect.

The control knob 26 moves a vertical shaft or shaft 53 extending through the switch plate 52, top case 54, top cylinder 56, top clutch 58, and mid clutch 60. The parallel misalignment clutch comprises a top clutch 58, a mid clutch 60, and a bottom clutch 62, allowing the drive and embedded portion of the knob mechanism to be fixed while the knob 26 can be moved sideways. I do. The vertical shaft 53 is tightly coupled at one end to the switch plate 52 and at the other end to the top clutch 58, and the shaft serves as a guide for linear axis movement of the knob. The hole in the knob 26 matches the protrusion from the switch plate 52 and allows the knob to provide torque to the plate 52, but allows the knob to move axially with respect to the plate 52. And The mid clutch 60 includes a groove 61 that matches the key 63 of the top clutch 58, and allows the knob to be moved in one lateral degree of freedom (two directions). Similarly, the mid clutch 60 includes two different grooves 65 located 90 ° from the first groove matching the key 67 provided on the bottom clutch 62, and the knob is connected to the other side. It is possible to be moved with freedom of direction. The lateral degrees of freedom provided by knob 26 are "true" lateral degrees of freedom. That is, the knob slides sideways in a straight line and does not approach sideways movement by placing the knob on a shaft to rotate. Such true lateral movement tends to feel good when a relatively long lateral distance is provided.

A round potion or plunger (not shown) is provided at the end of the vertical shaft extending down from knob 26, similar to the gate and plunger described below with reference to FIG. It has a number of grooves that constrain the knob in the desired eight lateral directions and connects to a gate 64 centered on the axis of rotation. In other embodiments, the gate may include fewer or more grooves due to the different numbers of allowed lateral directions of the knob. The components 26, 52, 56, 58, 60, 62 are such that when any one of these components is rotated (such as knob 26), all these components are rotated in unison. Then, at least one of these components is combined or connected. A sensor (not shown) is also preferably included to detect movement of the knob in the lateral direction. Such a lateral sensor may be, for example, a light sensor, a hall effect sensor, a contact switch, a stick control switch, or any of the standard sensors used to detect movement. For example, a sideways sensor could be a contact switch located 90 ° away near the perimeter of the top slider 56. Then, when slider 56 is moved sideways with the knob, one or two of the contact switches are closed in the path of the knob.

The drive pulley 66 is connected to the bottom clutch 62 by a belt 68. The drive pulley is then combined with the drive shaft of a provided drive 70, such as a DC motor, moving magnet drive, voice coil, passive brake, or other type of drive. The driving device 70 rotates the drive pulley 66 in this manner (or, if the driving device 70 is broken, the rotation will be hindered). Then, the drive pulley 66 rotates the bottom clutch 62 and the knob 26. The encoder disk 72 is combined with the drive pulley 66 and rotates with the drive pulley 66 simultaneously. The encoder disk 72 is located inside the encoder light sensor 74 so that the microprocessor or other control device can determine the turning position of the knob by detecting the passage of a wheel mark or groove. Includes edges that are rotated in A bottom case 76 can be located between the drive 70 and the drive pulley 66, where the bottom case 76 is attached to the top case 54 to form a housing that covers most of the other components.

The knob 26 may be moved linearly in the axial direction relative to the switch plate 52, for example, such that the knob is mated with a switch plate with protrusions, as shown. A contact switch (not shown) may be located on switch plate 52 to detect when knob 26 has been pressed against plate 52. The original spring of the mechanical switch can provide the knob with the spring return force so that the knob can be held in the "up" position when no force is applied by the user. Other types of sensors and / or additional springs may also be used.

Another advantage of mechanism 50 is the position of encoders 72 and 74 relative to knob 26. This belt drive transmission amplifies the knob rotation and helps to increase the resolution of the encoder. For example, one revolution of knob 26 provides several revolutions of encoder wheel 72. Other forms of transmission are used in other embodiments to amplify the resolution or force output. For example, a capstan cable drive, gear, friction, O-ring or time belt drive may be used.

Other advantages of embodiment 50 include high holding torque, very scalable mechanical design, small / inexpensive drive for use in transmission amplification, and drive amplification for drive transmission. With an improved encoder. They also have some disadvantages. For example, mechanisms require significant housing depth to accommodate the mechanism, inherent friction in belt transmission, and drive transmission increases equipment complexity. And joining more moving parts results in greater backlash in the equipment. Furthermore, this embodiment is not suitable for the axial moving motor shaft described here as another embodiment.

In another alternative embodiment, one or more of the transverse or lateral movements of knob 26 may be driven. For example, a linear or rotary drive may output a force in one or both directions (towards and away from the middle position of the knob) in rotational degrees of freedom in the transverse direction. Provided for. For example, one or more magnetic drives or solenoids can be used to provide forces in these transverse directions. Similarly, in other embodiments, the pulling and / or pushing movement of knob 26 along axis A is driven. For example, Jolt force is output to the knob in a linear degree of freedom along axis A by the user pressing the knob. Also, the spring return force provided by spring portion 64 may be output instead by using a drive controlled by a microprocessor.

FIG. 3 a is an exploded perspective view of a second embodiment 80 of the mechanism for the knob 26. Mechanism 80 implements a direct drive motor for reduced friction and high fidelity. This design differs from the embodiment 50 of FIG. 2 in that it has no transmission or clutch components, and thereby eliminates the effects of both backlash and friction. However, this generally results in lower torque output and sensory resolution as compared to the embodiment of FIG. The reduced torque output of this design allows the use of current control algorithms that allow shorter duration of high levels of current to be more desirable.

The knob 26 that is touched by the user is directly coupled to the knob pulley 82, and the knob pulley 82 is then directly coupled to the loading shaft 86 of the drive 84, similar to the drive 70 of FIG. Select switch 88 is provided in a switch bracket 90 provided between knob pulley 82 and motor 84. This select switch 88 is used when the user presses the knob and moves the knob linearly along the axis of rotation so that the controlled device can detect when the knob is pressed. Are connected by pulley 82. One example of a select switch is described in more detail below with reference to FIG. The force at the center of the knob's axial spring is preferably provided by a select switch 88.

An encoder drive belt 92 is associated with the knob pulley and moves an encoder pulley disk 94. The encoder pre-disk 94 then rotates between the detector and emitter of the grounded encoder print integrated plate (PCB) assembly 96. The top slider 98 is located around the housing of the driving device 84 and includes a gate 100 in contact with the lower side. Then, the gate 100 is combined with the plunger 102. Gate 100 and plunger 102 have been described with reference to FIG. The plunger 102 is preferably spring loaded at the opening in the bottom case 104 and the button slider 106 is located between the bottom case 104 and the top slider 98. The bottom and top sliders 98 slide transversely relative to each other such that the knob 26 and the drive 84 are moved together in eight lateral directions (perpendicular to the knob's axis of rotation). The keys 103 in the slot 101 and slider components and in the bottom case 104 allow this axial movement, where the slots and keys are capable of transverse movement. The interaction of plunger 102 with gate 100 regulates the knob as described in detail below and in the desired lateral direction.

The plunger 102 and the gate 100 are different from the gate and the plunger in the embodiment 50 of FIG. In some embodiments, the remote nature of these components introduces some rotation of the knob near the center of the gate. In such an embodiment, the second gate (not shown) and the spring loaded plunger 105 may be connected to the existing gate to provide greater stability and less play and vibration to the mechanism. Preferably, it is provided on the opposite side of sliders 98 and 106 relative to the plunger. In a preferred embodiment, only one of the gates includes a groove for guiding purposes, and the other gate has a smooth, concave, conically shaped lower side.

The top case 108 is located below the knob 26 and can be combined with the bottom case 104 to provide a housing that covers most of the mechanism. In a preferred embodiment, the top slider 98 comprises a round surface of the protruding part 109. There, the rounded surface contacts the underside of the top case 108 to provide stability against the lateral sliding movement of the knob mechanism.

The main PCB assembly 110 is used to hold circuits and other electronic components needed for the mechanism 80. In addition, the lateral sensors for detecting knob movement in the eight lateral directions take the form of small rod-like controls 112. The controller 112 includes a base associated with a grounded PCB assembly and a bar that extends into the receiver of the top slider 98. As the top slider 98 moves in the eight lateral directions, the bars of the controller 112 move in corresponding directions, and sensors in the controller 112 detect this movement. In other embodiments, other types of sensors are used as sideways sensors. For example, light beam sensors, contact switches or sensors, Hall effect sensors, optical encoders and the like.

Advantages of Example 80 include low friction, which results in a smooth feel of force and knob. And this is because the drive 84 drives the knob directly without any drive transmission. In addition, high detection resolution has been found to be due to the belt drive transmission (with belt 92) used with the encoder, where one revolution of the knob corresponds to several revolutions of the encoder wheel 94. The mechanism is also simpler than the embodiment of FIG. 2 and requires less space in the housing. And it is an advantage in confined areas, such as an armrest console in a car or other vehicle. Further, the embodiment 80 can be used directly with the shaft-moving shaft motor design described with reference to FIG. The disadvantage lies in less holding torque, and the device requires more sophisticated (and therefore expensive) electronics to monitor the motor temperature.

FIG. 3b depicts the gate 100 and plunger 102 of the embodiment of FIG. 3a. The gate 100 has a recess on the lower side and a number of grooves 120 drilled on the lower side and radiating from the center of the lower side of the gate. The gates 100 are arranged such that the tips 124 of the plungers 102 are contacted by the grooves. That is, it is pushed into the center cup 112 between one of the grooves or between the grooves. Groove 120 is provided in the desired direction for lateral movement of knob 26. In this way, if eight directions are desired, eight different grooves are provided in the desired direction. The plunger 102 is preferably spring-loaded to always provide a favorable contact between the plunger 102 and the gate groove 120 and to allow for a better guiding function of the gate.

In practice, when the user moves knob 26 laterally, gate 100 moves with knob 26 and drive 84. The provided plunger 102 is engaged with the gate 100 in the groove 120 and applies a force to move the gate 100 such that the plunger 102 remains in one of the eight grooves 120. In this way, the gate can be moved in only one of the eight desired directions. Then, in turn, force is applied to knob 26 so that it is moved in one of the eight lateral directions.

Another embodiment 130 of embodiment 80 is shown in FIG. 3c. And this provides a different sensing mechanism for the knob mechanism. As in the embodiment 80, the knob 26 is directly coupled to the drive shaft of the drive 132. Top slider 134 and bottom slider 136 allow for lateral movement of the knob in eight directions. And there, the aperture 138 of the slider allows the slider to slide relative to the post 139 extending through the aperture. A ball button 140, similar to the gate and plunger shown in FIGS. 3a and 3b, is provided in the post 141 to constrain knob movement to the desired lateral direction, It extends upward so that it can be engaged. Since the gate and plunger are offset from the center of the axis of rotation, as in FIG. 3a and the embodiment, the second plunger and (preferably without grooves) the gate provide stability and tighter movement. To provide, it may be provided on the other side of the mechanism.

The encoder disk 142 is provided at the bottom of the drive shaft of the driving device. Apertures and marks on the encoder disk detect the position of the knob during the encoder's movement, in relation to a sensor such as an emitter / detector (not shown); Vertically (axially) so that it can be For example, thin bands of marks and apertures may be provided with emitters and detectors to detect the path of the apertures and marks. In this way, this embodiment can be adapted to those embodiments that provide for axial knob movement. In that, the sensor (and in some embodiments the drive) moves axially with the knob. In another embodiment, a transparent hard metal is used for the sensor instead of the thin band apertures and marks. And there, the detector detects changes in the emitted beam from the ridge path. For example, Carna, San Francisco, California provides an optical sensor with roughly jagged threads that functions similarly to a mark or aperture. However, it allows the annular band to be formed more easily and is compatible with the invention.

FIG. 4a is a perspective view showing another example of an assembled housing in which embodiment 80 of FIG. 3 or embodiment 130 of FIG. 3c may be used. The tactile knob can be used in a car, for example, in the front part of a center armrest of a car or in a center console. The embodiment shown in FIG. 2 provides sufficient torque, but is larger than embodiment 80 due to belt drive transmission. Example 50 may utilize the original volume below or behind the knob for the drive, as shown in FIG. 4a.

FIG. 4b is a perspective view showing another example of an assembled housing that can be used for the embodiment 80 of FIG. 3a or the embodiment 130 of FIG. 3c. Example 80 or 130 requires slightly more lateral volume than Example 50. However, as shown in FIG. 4b, since no transmission is performed, only a short assembly is required. Of course, in other embodiments where the knob is another control component in other situations, such a volume may not exist or different constraints may exist.

[0049]

[Axial knob movement]

 Performing the axial movement of the knob or performing other operations takes a different form. One form of the invention comprises a motor (or other form of drive) having a shaft that can be moved along the axis of rotation of the motor shaft. This design facilitates the tactile knob of the present invention as it allows the knob to move along the axis of rotation without any coupling. Typically, if such a movement of the knob is required, as described below and with an embodiment in FIG. A flexible coupling, a splined shaft inside the splined cavity, is provided between the moving knob and the motor shaft. This allows the knob to move axially relative to the motor shaft while still allowing the motor to exert a rotational force on the knob. However, couplings are expensive and also cause backlash and deflection in the system, reducing the realism of force output to the user. Instead, conventional systems allowed all motors to move along the knob's axis of rotation. However, since motors are typically heavy and bulky (especially the stator sections are equipped with permanent magnets), this has often been ineffective.

An example of a prior art motor 200 is shown in the cross-sectional view of FIG. A typical DC brush type motor is shown, which has a stationary part (stator) associated with the motor housing and a rotating part (rotor). The motor housing 202 is typically cylindrical in shape and provides support for the motor stator and also functions as a magnetic flux guide. The housing 202 includes two magnets 204 that are assembled inside the housing, which are typically provided on different sides inside the housing. The magnet 204 typically has different magnetic poles facing inward with respect to the center of the housing. For example, the north face N of one magnet faces inward and the south face S of the other magnet faces inward. The rotor shaft 206 is rotatably coupled to the housing 202 so that the rotor has a consonant that rotates about axis A. For example, a bushing 208 such as a ball bearing supports the shaft 206. The rotor also includes armatures supported by a number of teeth 210, and they are covered by conductive wires and coils (not shown).

In a brush type motor, the shaft 206 is combined with a number of commutator bars 212, which are cylindrically positioned around the shaft 206, and the coils are connected thereto. The brush unit 214 is conductively coupled to the commutator bar, for example, the brush 216 may be spring loaded against the commutator bar by a spiral or leaf spring 218.

For those having skill in the art, as is well known, the permanent magnets 204 create a static magnetic field and are subject to various electric fields generated by the current flowing through the rotor coils. Influence. The magnetic field is commonly directed through the stator and rotor by using ferrous structures such as iron. The rotor rotates about axis A in housing 202 in a direction determined by the direction of the current through the coil. Shaft 206 is fixed in rotational degrees of freedom along axis A and is not allowed to move.

FIG. 6 is a cross-sectional view of an example of the motor 230 of the present invention. Although other forms of motors and drives may also be provided with the features of the present invention, a DC brush type motor is shown in FIG. Instead of providing a shaft coupling device between the knob and the motor, a shaft compliance is provided inside the motor 230.

Similar to the motor of FIG. 5, the motor 230 includes a commutator including a housing 232 and a magnet 234. The rotor is located in a housing supported by a bushing 238 and includes a shaft 236 and an armature 240. The armature 240 includes the teeth 242 and the coil as described above. The teeth 242 are positioned parallel to the side of the housing 232 or distorted in a helical arrangement to reduce the "cogging" effect due to the magnetic field, and when the rotor is rotated. Communicated to the user. Implementation of such a distorted rotor is disclosed in U.S. Pat. S. Patent No. 6,050,718.

The motor 230 includes a commutator bar 244 combined with a rotor, a brush unit 246 combined with a stator and including a brush 248 and a spring element 250, and the spring element includes a leaf spring. There are other types of helical springs, deflections and corresponding elements.

The whole rotor can be moved along the rotation axis B of the rotation of the present invention. It then allows the shaft 236 to move along the axis B and provides the required movement for the knob (or other user operated object) associated with the shaft. Some of the components of the drive are optimized to allow this movement. The spacing between the commutator bar 244 / brush unit 246 and the back brush 238b has been increased to allow for rotor movement. In some embodiments (depending on the amount of axial transmission), the commutator bar 244 may be used to ensure continuous contact between the brush 248 and the commutator bar 244 at all rotor positions. , Extended. If a large brush is used, brush 248 may be shortened along axis B to allow (in addition to) axial movement of the rotor.

The magnet 234 can also be extended as shown in FIG. For example, at all positions in the range of axial motion of the rotor, the armature is extended toward the brush unit in the example shown, such that the armature is in the magnetic field of the magnet 234. . If the ratio of the armature is allowed to extend out of the magnet 234, a loss of torque and the effect of the output torque will result. The brush 238 is preferably a high performance type bearing, such as a bronze bushing. It continues to maintain performance for an extended period of time, despite wear from axial movement of the shaft 236.

If the knob is combined directly with the shaft 236, the axial movement of the rotor allows the knob to be detected in a linear degree of freedom parallel to the axis B of the motor. . In addition, the torque is output directly to the knob as the shaft 236 is rotated, providing the user with a tactile sensation without using a corresponding coupling. In addition, the changes to commercial motors required by the present invention are simple and not expensive. And the motor of the present invention can be easily manufactured.

Other embodiments may provide other implementations where the shaft 236 can move axially relative to other portions of the motor 230. For example, shaft 236 may be moved axially with respect to both the rotor and stator of the motor. It then comes to rest relative to the ground or reference surface. In such an embodiment, shaft 236 may be moved axially in a slot provided in the center of armature 240. A key arrangement or other combination mechanism may be used so that the shaft 236 is rotated by the armature. For example, a cylinder shaft and aperture may provide a key in what mates with a slot in another part. Alternatively, a spiral or other multi-sided cross section of another shaft can be combined with a similarly shaped aperture. However, such a solution is not as desirable as the embodiment shown in FIG. 6 in terms of low cost equipment. Because they do not require significant changes to existing motors. The return force of the spring of the shaft 236 preferably biases the shaft to the extended position. The return force of this spring can be internal and / or external. For example, there is an inherent return force provided to the rotor in connection with the magnet from its magnetic properties. External components such as springs can be used as well.

FIG. 7 is a cross-sectional view of a device 260 having a motor 230 and a knob 26 associated with the motor. For example, embodiment 80 of FIG. 3a can be used with drive 230 or embodiment 50 of FIG. An output shaft 236 for axial movement of the motor 230 is rigidly connected to the knob 26. And thereby, the knob 26 is rotated when the shaft 236 is rotated. Knob 26 is also moved along axis B. In the embodiment shown, the knob can be moved down a total distance of 1.5 mm from the top position shown. In other alternative embodiments, other distances are provided.

The device 260 also preferably includes one or more sensors for sensing at least one position of the knob 26 in a linear axis. In the example of FIG. 7, the sensor is a switch 262 located at the opposite end of motor 230 with respect to knob 26. This switch is a contact switch in which the shaft 236 closes when the switch is depressed down, because the user has depressed the knob 26 the required distance. This switch is connected to a microprocessor or other control device so that when the user presses the knob to select or otherwise influence the operation of the controlled device I understand. Switch 262 may also be implemented as other types of sensors and switches, such as, for example, optical sensors, magnetic sensors, pressure sensors, and other types of sensors and switches.

In other embodiments, the switches may be located on other parts of the device 260. For example, switch 264 may be similar to switch 262 but located on the top surface of the housing of motor 230 and below knob 26. When the knob 26 is pressed by the user, the bottom surface 266 of the knob contacts the switch 264 to close the switch. Multiple switches 262 and 264 may also be used. For example, two switches 264 may be located on the upper surface of motor 230. In other embodiments, the switch may be located elsewhere, for example, switch 265.

In some embodiments, the position of the knob (or shaft) in the axial direction can be detected by using a continuous range or analog sensor. Also, the linear axis position can be used by a microprocessor (or other control unit) to provide appropriate control over the values, computer-generated objects, and other device functions. In some embodiments, movement parallel to axis B can be driven, for example, using a friction roller drive, a linear drive. And different force sensations can be output in linear degrees of freedom, such as, for example, springs, damping, inertia, detents, textures, vibrations, joints, pulses, and the like.

Although the embodiments disclosed herein are with respect to a rotary knob, other rotating user-operated objects can be combined with the moving drive shaft of the present invention. For example, joysticks, steering wheels, pool cues, medical equipment, and other grips are provided instead of knobs.

In other embodiments, sensors may be provided to detect the range of the position of knob 26 and the continuous movement of knob 26 along axis B in a straight line. For example, a Hall effect switch may be provided on the knob or on an attached component for measuring the position of the shaft 236 relative to a grounded magnet. Alternatively, a light sensor (such as a photodiode), or other type of sensor, may detect the position of the shaft 236 and / or the knob 26. In such an embodiment, the position of the knob along axis B appropriately controls the position, function, and settings of the controlled device. For example, such movement may control the value of the audio output of the device, the movement of the cursor across the display, the brightness of the light in the vehicle, and the like.

[0066] The spring element will cause the knob to bias back to its original position when the user removes sufficient force from the knob, and to provide the force to return the knob to its original position. Combined.

FIG. 8 shows a perspective view of a different embodiment 270 of the mechanism for the knob interface device of the present invention that allows for axial movement of the knob. Example 270 includes a gear for detecting rotational movement and allows the knob to move. Knob 26 may be located on a front panel of a computer or electronic device, as described above. The knob may preferably be rotated about axis Z by the user providing input to the electronic device. In other embodiments, knob 26 can be other controls, such as a dial or other type of grip, as in the above embodiments.

The knob 26 is rigidly associated with the first shaft 274, which has a gear 276 that is rigidly associated with the shaft 274 at a portion of the shaft between the two ends. Instead, the gear 276 is located around the knob 26 or is directly engaged. Thus, when the user rotates knob 26, shaft 274 and gear 276 are also rotated. The shaft 274 extends from the other side of the gear 276 and is tightly coupled with a torsional coupling 280 or one end of a physical spring. The spring 280 is firmly combined with the second shaft 278 at the other end of the spring.

Spring 280 allows shaft 274 to be moved away from or toward shaft 278 (when the spring is not fully pushed or stretched). Thus, knob 26, shaft 274, and gear 276 are moved along the Z axis. The spring force provided by the spring causes the spring to bias back at the knob 26 when the knob 26 is moved along the Z axis away from the natural or original spring position. . Preferably, a guide (not shown) is provided near the knob 26 (eg, a shaft 274 on the right rear of the knob) to prevent any knob movement perpendicular to axis Z, enabled by spring 280. To be provided). Such a guide can be an aperture in front of the front panel of the device, for example, through which the shaft 274 extends. Physical stops are provided within the linear degrees of freedom of the knob to keep the knob within the desired range of movement.

The spring 280 also allows the rotational movement to be moved between the shaft 278 and the shaft 274 (and thus the knob 26 and the gear 276). The spring 280 is preferably rigid in the circumferential direction and does not allow freedom of twist. Thereby, rotation of shaft 278 by drive 282 (discussed below) is transmitted to shaft 274 and knob 26 as faithfully as possible without additional play or compliance. Spiral or other types of springs, such as bellows, helical free couplings, spline shafts in spline cavities, etc., that can transmit rotation and allow conversion, other couplings are springs 280 Can be used for Still in other embodiments, no spring 280 or other coupling is provided, and as in embodiment 230 shown above in FIG. The motor can be moved axially relative to the motor to allow movement. In another embodiment, movement along axis Z can be driven by using a drive to output force in linear degrees of freedom. For example, there is a linear drive, a rotary drive in which the rotational output is converted to a linear direction. Such a drive includes a motor, a voice coil drive, a passive brake and the like.

In another embodiment, as is well known in the art of this mechanism, a shaft 274 that allows rotational movement to be transmitted from shaft 278 to shaft 274, but allows for stable movement. Other couplings between the shaft and shaft 278 may be used. In some embodiments, gear 276 itself acts as a coupling and is sufficiently long (Z) that shaft 278 can move a desired distance relative to gear 276 and shaft 274. (Parallel to the axis). For example, the interior of the coupling, such as a center gear opening, may include gear teeth or other structures to couple the teeth to the shaft 278 to allow for a translating operation while transmitting rotational motion. May be included.

The shaft 278 is tightly coupled to a grounded drive 282, which is actuated so that it can output a rotational force to the shaft 278 and thereby a rotational force of the knob 26. Is done. The drive 282 provides a force, which is computer modulated based on control signals from a computer device comprising a microprocessor and other controls. The drive 282 can be an active drive such as, for example, a DC motor, a voice coil drive, or another type of motor. Alternatively, the drive may be a passive drive, for example a brake, a passive fluid drive. As described below, a variety of force sensations can be output to the knob.

An encoder gear 290 is rotatably associated with the grounded surface and is located next to the gear 276. Encoder gear 290 includes gear teeth, which are combined with the teeth of gear 276, whereby the rotational movement of gear 276 causes rotation of encoder gear 290 about axis A. In some embodiments, other transmission devices may be used to transmit rotation from shaft 274 to shaft 292. For example, a friction transmission system can be used. Most preferably, a stiff rubber or similar material can thus be used if it allows the transformation of the two elements in friction. Instead, a belt drive transmission is used, in which a small pulley instead of the encoder gear 290 is located slightly away from the large pulley instead of the gear 276, and the belt is looped between those pulleys. Is formed. O-ring type belts can be used so that the conversion of a large pulley associated with a small pulley does not disrupt the operation of the belt drive.

The encoder shaft 292 is firmly combined with the ground and the encoder gear 290 and extends through the encoder gear. Sensor 293 is combined with an encoder gear to detect the rotational movement of gear 290 and to detect the rotation of gear 276 and knob 26 (the rotation of gear 276 is by the user and / or drive 282). . Sensor 293 provides one or more signals to a microcontroller that indicates the associated movement of gear 290 and knob 26. Sensor 293 includes a code wheel 294, which is rigidly associated with shaft 292 and rotates in association with gear 290. The sensor 293 also includes a grounded emitter / detector assembly 296 and a position such that the end of the wheel 294 rotates between at least one emitter of the assembly 296 and at least one detector. It is possible. The wheel includes slots and markings, which can be detected as it passes through the emitter / detector. Optical encoders of this type are well known in the art to those skilled in the art. In a more preferred embodiment, two or more detectors are included in the assembly 296 to enable quadrature or similar detection while allowing the direction of motion to be detected. Provided. Other types of sensors capable of detecting wheel or shaft movement may be used instead, for example, analog potentiometers.

When the knob is translated, gear 276 and encoder gear 290 are translated relative to each other. For example, in the described embodiment, the gear 276 is moved and slides relative to the grounded encoder gear 290 along the Z axis. The teeth of this combined two gears allow the gears to be changed, but also allow the rotational movement to be transmitted from one gear to another (both gears). If at least the Z-axis lengths of the teeth are combined). This allows the sensor 293 to be grounded in connection with the knob 26 and still measure the rotation of the knob 26.

Preferably, the user can press the knob 26 against the drive 282 to activate the sensor and input a button or activation signal. To enable this feature, in the described embodiment, an electronic switch, such as contact 297, is provided in the path of knob 26 or gear 276. For example, contact 297 is mated to ground, and when knob 26 is mated with contact 297 and depressed, it is depressed against other contacts. It sends signals to the controlling micrometer and other circuits. In this way, the user can depress knob 26 to activate the contact signal, thereby making a selection input to the electronic device and providing another input to the electronic device.

In other embodiments, other types of sensors may be used to detect the fine position of the knob in linear degrees of freedom along the axis Z, or to provide continuous linear movement along the Z axis. Can be used to detect. For example, a light sensor may detect the range of a knob (or gear or shaft 274) or the detailed position of a point that outputs or reflects the beam detected by the detector strip, and the detector strip parallel to the knob movement. Can be used.

FIG. 9 is a block diagram illustrating an electromechanical system 300 suitable for use with the device controlled by the knob of the present invention. A tactile sensation feedback system comprising a number of subcomponents is described in detail in Patent Number 5,734,373 and is incorporated by reference herein in its entirety.

In one embodiment, the controlled device comprises an electronic part having a local microprocessor 302, a local clock 304, a local memory 306, a sensor interface 308, and a driver interface 310.

The local microprocessor 302 is considered “local” to the device, where “local” refers to other microprocessors, such as in a controlling host computer (see below). The processor 302 is a remote microprocessor. Also shown is a processor 302 that is specialized in sensor I / O and force feedback to knob 26. In the force feedback embodiment, the microprocessor 302 reads the sensor signal, calculates the appropriate force from the selected force process, time signal, and sensor signal based on the host command, and sends it to the drive. Output appropriate control signal. Microprocessors suitable for use as the local processor 302 include, for example, Intel 8X930AX, Motorola MC68HC711E9, and Microchip PIC16C74. Microprocessor 302 includes a single microprocessor chip, multiple processors, and / or coprocessor chips, and may include a digital signal processor (DSP). Separate controllers may also be provided specifically for calculating velocity, acceleration, and / or other force related data. Alternatively, fixed digital logic and / or state machines can be used to provide similar functions.

The local clock 304 can be combined with the microprocessor 302 to provide timing data, for example, to calculate the force output by the drive 316. A local memory 306, such as RAM and / or ROM, is preferably combined with the microprocessor 302 to store instructions to the microprocessor 302, current data. Display 14 may be combined with local microprocessor 302 in some embodiments. Alternatively, a different microprocessor or other controller may control the output to the display 14.

A sensor interface 308 may be optionally included so that the sensor signal can be converted into a signal that can be interpreted by the microprocessor 302. For example, the sensor interface 308 can receive a digital sensor type signal, such as an encoder, and convert the signal to a digital binary number. An analog-to-digital converter (ADC) may also be used. In addition, microprocessor 302 also demonstrates the use of these interface functions. A drive interface 310 may be selectively connected between the drive and the microprocessor 302 to convert signals from the microprocessor 302 into signals suitable for driving the drive. The drive interface 310 may include power amplifiers, switches, digital analog controllers (DACs), and other components. In other embodiments, the actuator interface 310 circuitry is provided within the microprocessor 302 or within the drive. Power supply 312 provides electronic power, or power may be provided to drive 316 and other components by an interface bus.

The mechanical parts of the system may include, as described above, rotational movement of knob 26, transverse movement of knob 26, push and / or pull movement of knob 26, and some of these degrees of freedom of the knob. It may include all or some of the components required for or all of the contact feedback. Sensors 314 sense the position, movement and / or other characteristics of knob 26 along one or more of the degrees of freedom and provide microprocessor 302 with information representative of those characteristics. Provide a signal. Typically, a sensor 314 is provided for each degree of freedom along which the knob 26 can be moved, or a single compound sensor can be used for multiple degrees of freedom. Examples of desirable sensors include optical encoders, analog sensors such as potentiometers, Hall effect magnetic sensors, optical sensors such as photodiodes with lateral effects, tachometers, and accelerometers. Absolute or relative sensors can also be used.

In those embodiments with force feedback, the drive 316 corresponds to the signal output by the microprocessor 302 or other electronic logic or device, ie, “electronically controlled”. To transmit force to the knob in one or more directions in the rotational degree of freedom. The drive 316 provides an electronically modulated force, which means that the microprocessor 302 or other electronic device controls the force application. Typically, one or more drives 316 are provided for each knob 26 with force feedback. In some embodiments, additional drives are provided for other degrees of freedom of the knob 26, such as, for example, a transverse movement of the knob 26 and / or a push or pull movement of the knob. Is done. The drive 316 may be an active drive such as, for example, a DC motor, a linear current control motor, a stepper motor, an air / humidity active drive, a torque meter (a limited narrow range of motors), a voice coil drive, etc. Drive device. Passive drives are also used, including magnetic particle brakes, friction brakes, air / humidity passive drives, and also produce damping resistance and friction in the degree of movement.

The mechanism 318 converts the movement of the knob 26 into a form that can be read by the sensor 314, and in embodiments with force feedback, transfers the force from the drive 316 to the knob 26. Is used. An example of the mechanism 318 is shown above. In addition, driving mechanisms such as a belt drive, a gear drive, and a capstan drive mechanism are used to provide a mechanical advantage to the force output by the driving device 316.

Another output device 230 can be included to send an input signal to the microprocessor 302. Such input devices include buttons and other controls that are used to assist with input to the controlled device from the panel. Also, dials, switches, voice recognition hardware (e.g., a microphone with software executed by microprocessor 302), and other input mechanisms also provide input to microprocessor 302 or drive 316. To be included. The deadman switch 322, in some embodiments, provides an output when the user is not touching the knob to prevent the knob from rotating on itself when the user is not touching the knob. Provided on or near the knob to cause a stopping force.

Another microprocessor 324 is provided to communicate with the local microprocessor 302 in some embodiments. Microprocessors 302 and 324 are preferably combined together by a bidirectional bus 326. Additional electronic components are provided to communicate through a standard protocol on bus 326. These components are provided in the device or other connected device. Buzz 326 is capable of all kinds of different communication buses. For example, a bidirectional serial / parallel bus, a wireless link, a network architecture (eg, a CAN bus), or a unidirectional bus may be used.

The other microprocessor 324 can be a separate microprocessor for disparate devices and systems that coordinates operation and functions with the controller. For example, another microprocessor 324 may be provided for a separate control subsystem in a vehicle or home. There, other microprocessors control the temperature systems in cars and homes, the location of mechanical components (car mirrors, seats, garage doors, etc.), and a central display device that displays information from various systems. I do. Alternatively, the other microprocessor 324 can be a centralized controller for many systems with controllers. The two microprocessors 302 and 324 exchange information as needed to facilitate control of the various systems, output of incident notice to the user, and the like. For example, if the other microprocessor 324 determines that the vehicle is overheating, the other microprocessor 324 communicates this information to the local microprocessor 302, which in turn alerts the user. , And outputs a specific display to the display 14. Or, if the knob 26 allows a different mode of control, the other microprocessor 324 can control a different mode. Thus, if the knob 26 can control both the audio stereo output as well as the temperature control, the local microprocessor 302 can take over the audio function but the device will be in the temperature control mode. At some point, all knob sensor data can be passed to another microprocessor 324 to control the regulation of the temperature system.

In another embodiment, another microprocessor 224 may be a host microprocessor. For example, by sending a host command to the local microprocessor, the local microprocessor 202 can be instructed to output a sense of force. The host microprocessor can be a single processor, or it can be, for example, a personal computer, workstation, video game console, portable computer, other computing or display device, set-top box, "network-computer". ”, Provided in other computers. In addition to the microprocessor 224, the host computer is a random access memory (RAM), a read only memory (ROM), an input / output (I / O) circuit, well known to those skilled in the art. And other computer components. The host processor can execute a host application program with which the user interacts by using the knob 26 and / or other controls and peripherals. The host application program can be responsive to signals from the knob 26, such as transverse movement of the knob, push and pull movements, rotation of the knob, etc. Provided to interface devices such as pads, joysticks, steering wheels, mice connected to the host computer, and game control devices.) In the force feedback embodiment, the host application program can output force feedback commands to the local microprocessor 202 and knob 26. In a host processor embodiment or other similar embodiment, the microprocessor 202 waits for instructions and requests from the host computer, parses / decodes the instructions and requests, and inputs and outputs according to the instructions and requests. Supplied with software instructions for handling / controlling the signals.

For example, in one force feedback embodiment, the host microprocessor 324 can provide low-level force commands over the bus 326 and the microprocessor 302 can send the commands directly. Transmit to the drive. In an embodiment of local control of different force feedback, the host microprocessor 324 provides high level management instructions to the microprocessor 302 over the bus 326. Also, the microprocessor 302 can control the low-level force control loop for the sensors and drives while following the high-level instructions and independently of the host computer. In a local control embodiment, the microprocessor 302 can independently process the sensor signals to determine the signal output to the appropriate drive by following the "force process" instructions. Such a process is then stored in the local memory 306 and comprises operational instructions, formulas, power strengths (power profiles), and / or data. The force process involves the creation of distinct forces, such as simulated interactions, swaying, textures, and vibrations between displayed objects, as described in more detail in US Pat. No. 5,734,373. You can command your senses.

In another embodiment, local processor 302 is not included in the interface device, and a remote microprocessor, such as microprocessor 324, controls all signals to and from components of the interface device. Can be processed. Alternatively, digital logic embedded in hardware can perform any input / output function for knob 26.

Although the present invention has been described in terms of some preferred embodiments, there are permutations, permutations, transformations and the like which are within the scope of the present invention. It should also be noted that the embodiments described above can be mixed in various ways in the desired implementation. In addition, certain terminology is used for descriptive clarity and is not intended to limit the invention. Therefore, the appended claims are intended to cover such transformations, permutations, and permutations as fall within the true spirit and scope of the invention.

[Brief description of the drawings]

FIG. 1 is a perspective view of an embodiment of a device including a control knob according to the present invention.

FIG. 2 is a perspective view of an embodiment of a mechanism for implementing the control knob device according to the present invention.

FIG. 3a is a perspective view of a second embodiment of the mechanism for implementing the control knob device according to the present invention.

FIG. 3b is a perspective view of the gate and plunger mechanism used in the embodiment of the control knob of the present invention.

FIG. 3c is a perspective view of a third embodiment of a mechanism for implementing the control knob device according to the present invention.

FIG. 4a is a perspective view of a control knob device housed in a housing.

FIG. 4b is a perspective view of the control knob device housed in the housing.

FIG. 5 is a cross-sectional view of a prior art motor and internal components.

FIG. 6 is a sectional view of the motor according to the present invention in which the shaft of the motor is movable in the axial direction.

FIG. 7 is a sectional view of the motor, the knob, and a switch for detecting axial movement of the knob in FIG. 6;

FIG. 8 is a perspective view of a control device that provides a gear transmission that allows a knob to move axially.

FIG. 9 is a block diagram of a control system for the control device of the present invention.

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Levin, Michael Dee United States 94087 Sunnyvale Number 506 East El Camino Real 870 (72) Inventor Martin, Kennis Em United States of America 94306 Palo Alto Suzanne Drive 4240

Claims (7)

[Utility model registration claims] A stator having a housing and a plurality of magnets; and a rotor rotatable around a rotation axis in the housing and relatively moving along the rotation axis with respect to the stator. A rotary drive. 2. The rotor, comprising: an armature rotatable within the housing; and a shaft connected to the armature so as to rotate with the armature, wherein the shaft is coaxial with the rotation axis. The rotation drive device according to claim 1, further comprising: a shaft disposed, wherein the armature and the shaft are movable along the rotation axis. 3. The shaft is rigidly connected to the armature so as to move simultaneously with the armature linearly along the axis of rotation, and the stator is fixed. Claim 2
3. The rotary drive device according to claim 1. 4. The magnet of the stator extends longer than the length of the armature such that the armature is located within the magnetic field of the magnet regardless of the position of the shaft on the axis of rotation. 3. The rotary drive device according to claim 2, wherein: 5. A commutator bar having a longer length than a commutator bar of an actuator whose shaft is immovable so that a brush can abut on the shaft regardless of a position on the rotation axis of the shaft. The rotary drive device according to claim 3, wherein: 6. The rotary drive device according to claim 1, wherein the rotary drive device is a DC brush type motor. 7. The apparatus is rotatable about the rotation axis, and
A haptic feedback device including an operating member movable linearly along the rotation axis, wherein the haptic feedback device is applied to output a driving force around the rotation axis; The rotation drive device according to claim 1, wherein the movement of the rotation member is configured to correspond to a linear movement of the operation member.