Reaction force generating apparatus

• US 5,656,901 A
• Filed: 04/21/1995
• Issued: 08/12/1997
• Est. Priority Date: 04/22/1994
• Status: Expired due to Fees

• Current Assignee: Kokusai Dengyo Co., Ltd.
• Original Assignee: Kokusai Dengyo Co., Ltd.
• Inventors: Kurita, Koji
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US08/432,362
• Time in Patent Office: 844 Days
• Field of Search: 318/254, 318/489, 318/561, 318/566, 318/1, 318/2, 318/686, 318/689, 318/114, 318/119, 318/122, 318/123, 318/124, 318/128, 318/129, 318/436, 318/460, 434/45, 434/62, 180/79.1, 180/DIG. 1, 180/DIG. 3
• US Class Current: 318/436
• CPC Class Codes: A63F 13/245 specially adapted to a particular type of game, e.g. steering wheels
• CPC Class Codes: A63F 13/285 Generating tactile feedback signals via the game input device, e.g. force feedback
• CPC Class Codes: A63F 13/803 Driving vehicles or craft, e.g. cars, airplanes, ships, robots or tanks
• CPC Class Codes: A63F 2300/1037 being specially adapted for converting control signals received from the game device into a haptic signal, e.g. using force feedback
• CPC Class Codes: A63F 2300/1062 being specially adapted to a type of game, e.g. steering wheel
• CPC Class Codes: A63F 2300/8017 Driving on land or water; Flying
• CPC Class Codes: G09B 9/04 for teaching control of land vehicles
• CPC Class Codes: H02K 21/14 with magnets rotating within the armatures
• CPC Class Codes: H02K 26/00 Machines adapted to function as torque motors, i.e. to exert a torque when stalled
• CPC Class Codes: H02K 33/12 with armatures moving in alternate directions by alternate energisation of two coil systems

Abstract

A reaction force generating apparatus is provided which generates a reaction force for a rotationally operated member to be manually or mechanically operated. An alternating motor is provided that has a stator with three-phase coils; a rotor including permanent magnets; and a rotational axle extending from the center of the rotor and having a rotationally operated member attached to its one end. A direct voltage is supplied to the three-phase coils of the alternating motor, thereby producing a magnetic field on the stator. The magnetic field is oriented in one direction and cooperates with the permanent magnets to generate an electromagnetic attraction force for maintaining the operated member in a predetermined angular position. When the operated member is moved, a torque, or reaction force, is generated to restore the initial position of the operated member.

Claims

1. A reaction force generating apparatus for providing a reaction force for a rotationally operated member, said apparatus comprising:

an alternating motor including a stator having a plurality of coils which, when supplied with an alternating current, generate a rotational magnetic field, a rotor having at least one pair of permanent magnets mounted on an outer peripheral surface thereof, and a rotational axle fast with rotor and extending coaxially away from said rotor;

an actuating device coupled to said alternating motor to supply each of said plurality of coils of said alternating motor with a respective predetermined direct current to produce a stationary magnetic field that acts upon said magnets of said rotor and maintains said rotational axle in a predetermined angular position; and

said rotationally operated member being fast with the outer end of said rotational axle;

wherein

the actuating device includes a mechanism for alternately changing said direct current supplied to each of said plurality of coils of alternating motor at a predetermined frequency over a predetermined time period, resulting in a rotational vibration of said operated member, the severity of said rotational vibration being dependent upon said direct current, said predetermined frequency and said predetermined time period.

2. A reaction force generating apparatus for providing a reaction force for a rotationally operated member, said apparatus comprising:

an alternating motor including a stator having a plurality of coils which, when supplied with an alternating current, generate a rotational magnetic field, a rotor having at least one pair of permanent magnets mounted on an outer peripheral surface thereof, and a rotational axle fast with rotor and extending coaxially away from said rotor;

an actuating device coupled to said alternating motor to supply each of said plurality of coils of said alternating motor with a respective predetermined direct current to produce a stationary magnetic field that acts upon said magnets of said rotor and maintains said rotational axle in a predetermined angular position; and

said rotationally operated member being fast with the outer end of said rotational axle;

wherein

said permanent magnets extend at a helical angle about the axis of rotation of said rotor.

3. The reaction force generating apparatus according to claim 2, wherein said actuating device includes a mechanism for alternately changing said direct current supplied to each of said plurality of coils of said alternating motor at a predetermined frequency over a predetermined time period, resulting in a rotational vibration of said operated member, the severity of said rotational vibration being dependant upon said direct current, said predetermined frequency and said predetermined time period.

4. A reaction force generating apparatus for providing a reaction force for a rotationally operated member, said apparatus comprising:

an alternating motor including a stator having a plurality of coils which, when supplied with an alternating current, generate a rotational magnetic field, a rotor having at least one pair of permanent magnets mounted on an outer peripheral surface thereof, and a rotational axle fast with rotor and extending coaxially away from said rotor;

an actuating device coupled to said alternating motor to supply each of said plurality of coils of said alternating motor with a respective predetermined direct current to produce a stationary magnetic field that acts upon said magnets of said rotor and maintains said rotational axle in a predetermined angular position; and

said rotationally operated member being fast with the outer end of said rotational axle;

wherein

said stator further includes a plurality of pole teeth which extend at a helical angle about the axis of rotation of said rotor.

5. The reaction force generating apparatus according to claim 4, wherein said actuating device includes a mechanism for alternately changing said direct current supplied to each of said plurality of coils of said alternating motor at a predetermined frequency over a predetermined time period, resulting in a rotational vibration of said operated member, the severity of said rotational vibration being dependant upon said direct current, said predetermined frequency and said predetermined time period.

6. The reaction generating apparatus of claim 4, wherein said plurality of pole teeth on said stator are not spatially parallel to said permanent magnets thereby increasing the area on said permanent magnets that face said magnetic poles of said stator to produce a desired rotational reaction force.

7. A method of generating a reaction force for a rotationally operated member, comprising the steps of:

providing an alternating motor including a stator having a plurality of coils which, when supplied with an alternating current, generate a rotational magnetic field, a rotor having at least a pair of permanent magnets mounted on an outer peripheral surface thereof, and a rotational axle fast with said rotor and extending coaxially away from said rotor where said rotationally operated member is fixed to the outer end of said rotational axle;

applying a respective predetermined direct current to each of said plurality of coils of said alternating motor;

producing a stationary magnetic field that acts upon said magnets of said rotor; and

maintaining said rotational axle in a predetermined angular position;

further comprising

the step of alternately changing said direct current supplied to each of said plurality of coils of said alternating motor at a predetermined frequency over a predetermined time period, resulting in a rotational vibration of said operated member, the severity of said rotational vibration being dependant upon said direct current, said predetermined frequency and said predetermined time period.

8. A method of generating a reaction force for a rotationally operated member, comprising the steps of:

providing an alternating motor including a stator having a plurality of coils which, when supplied with an alternating current, generate a rotational magnetic field, a rotor having at least a pair of permanent magnets mounted on an outer peripheral surface thereof, and a rotational axle fast with said rotor and extending coaxially away from said rotor where said rotationally operated member is fixed to the outer end of said rotational axle;

applying a respective predetermined direct current to each of said plurality of coils of said alternating motor;

producing a stationary magnetic field that acts upon said magnets of said rotor; and

maintaining said rotational axle in a predetermined angular position;

further comprising

the step of disposing said permanent magnets at a helical angle relative about the axis of rotation of said rotor.

9. The method of generating a reaction force according to claim 8, further comprising the step of alternately changing said direct current supplied to each of said plurality of coils of said alternating motor at a predetermined frequency over a predetermined time period, resulting in a rotational vibration of said operated member, the severity of said rotational vibration being dependent upon said direct current, said predetermined frequency and said predetermined time period.

10. A method of generating a reaction force for a rotationally operated member, comprising the steps of:

providing an alternating motor including a stator having a plurality of coils which, when supplied with an alternating current, generate a rotational magnetic field, a rotor having at least a pair of permanent magnets mounted on an outer peripheral surface thereof, and a rotational axle fast with said rotor and extending coaxially away from said rotor where said rotationally operated member is fixed to the outer end of said rotational axle;

applying a respective predetermined direct current to each of said plurality of coils of said alternating motor;

producing a stationary magnetic field that acts upon said magnets of said rotor; and

maintaining said rotational axle in a predetermined angular position;

further comprising

the step of providing said stator with a plurality of pole teeth and disposing said pole teeth at a helical angle relative about the axis of rotation of said rotor, said plurality of coils being wound around said pole teeth.

11. The method of generating a reaction force according to claim 10, further comprising the step of alternating changing said direct current supplied to each of said plurality of coils of said alternating motor at a predetermined frequency over a predetermined time period, resulting in a rotational vibration of said operated member, the severity of said rotational vibration being dependant upon said direct current, said predetermined frequency and said predetermined time period.

12. A reaction force generating apparatus for providing a reaction force for a rotationally operated member, said apparatus comprising:

an alternating motor including a stator having a plurality of coils which, when supplied with an alternating current, generate a rotational magnetic field, a rotor having at least one pair of permanent magnets mounted on an outer peripheral surface thereof, and a rotational axle fast with rotor and extending coaxially away from said rotor;

an actuating device coupled to said alternating motor to supply each of said plurality of coils of said alternating motor with a respective predetermined direct current to produce a stationary magnetic field that acts upon said magnets of said rotor and maintains said rotational axle in a predetermined angular position; and

said rotationally operated member being fast with the outer end of said rotational axle;

wherein

the actuating device includes a means for alternately changing said direct current supplied to each of said plurality of coils of said alternating motor, said means include delivering a set of direct voltages to each of said plurality of coils corresponding to two different stop angles defining an angular range at a predetermined frequency over a predetermined time period, resulting in a rotational vibration of said operated member, the severity of said rotational vibration being dependant upon said direct current, said predetermined frequency and said predetermined time period.

13. A reaction force generating apparatus for providing a reaction force for a rotationally operated member, said apparatus comprising:

an alternating motor including a stator having a plurality of coils which, when supplied with an alternating current, generate a rotational magnetic field, a rotor having at least one pair of permanent magnets mounted on an outer peripheral surface thereof, and a rotational axle fast with rotor and extending coaxially away from said rotor;

an actuating device coupled to said alternating motor to supply each of said plurality of coils of said alternating motor with a respective predetermined direct current to produce a stationary magnetic field that acts upon said magnets of said rotor and maintains said rotational axle in a predetermined angular position; and

said rotationally operated member being fast with the outer end of said rotational axle;

wherein

said permanent magnets include a first permanent magnet and a second permanent magnet and when excited by said coils of said stator define more than one magnetic pole of said magnetic field, wherein said permanent magnets are arranged along an outer peripheral edge of said rotor such that a peripheral edge of said first permanent magnet and a peripheral edge of said second permanent magnet are disposed at a helical angle about the axis of rotation of said rotor, wherein said peripheral edges of said permanent magnets are not spatially parallel to a plurality of pole teeth on said stator thereby increasing the area on said permanent magnets that face said magnetic poles of said stator to produce a desired rotational reaction force.