Operation apparatus having a unit movable on a two-dimensional operation surface

• US 8,692,770 B2
• Filed: 09/02/2010
• Issued: 04/08/2014
• Est. Priority Date: 09/04/2009
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Itoh, Masahiro
• Primary Examiner(s): Bost, Dwayne
• Assistant Examiner(s): MUMMALANENI, MRUNALINI YERNENI
• Application Number:
  US12/874,348
• Publication Number:
  US 20110057909A1
• Time in Patent Office: 1,314 Days
• Field of Search: 348/211.7, 345/161, 200/177, 200/7, 200/179, 200/8.R, 200/17.R, 200/18, 200/5.R, 200/6.R, 200/6.A, 744/71.XY, 744/900.1, 744/900.7, 744/900.8, 745/03, 744/901.3, 463/38, 361/679.1, 361/679.18
• US Class Current: 345/161
• CPC Class Codes: G06F 3/0338 with detection of limited linear or angular displacement of an operating part of the device from a neutral position, e.g. isotonic or isometric joysticks
• CPC Class Codes: G06F 3/03548 Sliders, in which the moving part moves in a plane
• CPC Class Codes: Y10T 74/20201 Control moves in two planes
• CPC Class Codes: Y10T 74/20305 Robotic arm
• CPC Class Codes: Y10T 74/20341 Power elements as controlling elements
• CPC Class Codes: Y10T 74/20348 Planar surface with orthogonal movement and rotation
• CPC Class Codes: Y10T 74/20378 Planar surface with orthogonal movement or rotation
• CPC Class Codes: Y10T 74/20468 Sliding rod

Abstract

A movable operation unit is movable on a two-dimensional operation surface of a main body. The two-dimensional operation surface is defined by an X-axis and a Y-axis perpendicular to each other. A Y-axis movable portion is rotatable around a rotation axis. The Y-axis movable portion is movable in the Y-axis direction when rotating around the rotation axis. The rotation axis extends in the X-axis direction relative to the main body. The Y-axis movable portion includes a sliding rail portion on which the movable operation unit is slidable in the X-axis direction. The movable operation unit is operable to slide in the X axial direction and move in the Y axial direction accompanied with rotation of the Y-axis movable portion around the rotation axis to performs a parallel shift in the two dimensional direction while regularly and constantly maintaining a posture of the movable operation unit.

Claims

1. An operation apparatus comprising:

a main body;

a movable operation unit movable on a two-dimensional operation surface of the main body, the two-dimensional operation surface defined by an X-axis and a Y-axis perpendicular each other;

a Y-axis movable object including a Y-axis movable portion movable in the Y-axis direction when rotating around an rotation axis, the rotation axis extending in the X-axis direction relative to the main body, wherein

the Y-axis movable portion includes a sliding rail portion on which the movable operation unit is slidable in the X-axis direction,

the movable operation unit is operable to slide in the X axial direction and move in the Y axial direction accompanied with rotation of the Y-axis movable portion around the rotation axis to perform a parallel shift in the two dimensional direction while regularly and constantly maintaining a posture of the movable operation unit,

the Y-axis movable object is a swing member extending in the X-axis direction relative to the main body, the Y-axis movable object being rotatable around the rotation axis as a swing axis,

the Y-axis movable portion is formed in a swing end outside the swing axis and configured to swing in the Y-axis direction, and

a sliding movement of the movable operation unit in the X axial direction and a swing motion of the swing member in the Y axial direction enables a two-dimensional operation of the movable operation unit.

2. The operation apparatus according to claim 1, wherein

the movable operation unit is mounted on the swing end,

the operation apparatus further comprising:

a Z-axis position retention mechanism configured to retain a position of the movable operation unit in the Z-axis direction relative to the main body at a constant position by absorbing movement of the swing end in the Z-axis direction accompanied with a swing motion of the swing member around the swing axis.

3. The operation apparatus according to claim 2, wherein

the Z-axis position retention mechanism includes:

a Z-axis movement absorption mechanism configured to permit the sliding rail portion to move in the Z-axis direction relative to the movable operation unit; and

a Z-axis positioning mechanism configured to hold the movable operation unit at a predetermined position in the Z-axis direction.

4. The operation apparatus according to claim 3, wherein

the movable operation unit includes a slidable holding portion configured to:

i) support the sliding rail portion of the swing member to permit sliding in the X-axis direction,

ii) regulate movement of the sliding rail portion relative to the slidable holding portion in the Y-axis direction while supporting the sliding rail portion; and

iii) permit movement of the sliding rail portion relative to the slidable holding portion in the Z-axis direction while supporting the sliding rail portion, and

the Z-axis movement absorption mechanism includes the sliding rail portion of the swing member and the slidable holding portion of the movable operation unit.

5. The operation apparatus according to claim 4, wherein

the sliding rail portion of the swing member is a linear shaft portion extending in the X-axis direction,

the slidable holding portion of the movable operation unit has an opening extending through the slidable holding portion in the X-axis direction to enable insertion of the linear shaft portion in the X-axis direction,

the slidable holding portion has an opening on one side in the Z-axis direction to permit relative movement of the inserted linear shaft portion in the Z-axis direction,

the slidable holding portion has Y-axis opposed wall portions opposed to each other to sandwich the inserted linear shaft portion from both sides in the Y-axis direction, and

the Z-axis movement absorption mechanism includes the linear shaft portion of the swing member and the opening of the slidable holding portion.

6. The operation apparatus according to claim 2, wherein

the Z-axis position retention mechanism includes:

a Z-axis movement absorption mechanism configured to permit the swing member to move in the Z-axis direction relative to the main body; and

a Z-axis positioning mechanism configured to hold the movable operation unit mounted to the swing end of the swing member at a predetermined position in the Z-axis direction.

7. The operation apparatus according to claim 6, wherein

the main body includes a swing support member configured to:

i) support a swing shaft portion of the swing member to permit rotation around the swing axis;

ii) regulate movement of the swing shaft portion relative to the swing support member in the Y-axis direction while supporting the swing shaft portion; and

iii) permit movement of the swing shaft portion relative to the swing support member in the Z-axis direction while supporting the swing shaft portion, and

the Z-axis movement absorption mechanism includes the swing shaft portion of the swing member and the swing support member of the main body.

8. The operation apparatus according to claim 7, wherein

the swing shaft portion of the swing member is a linear shaft portion extending in the X-axis direction,

the swing support member of the main body has an opening supporting the linear shaft portion rotatable around the swing axis, the opening defined:

i) X-axis opposed wall portions regulating relative movement of the supported linear shaft portion in the X-axis direction; and

ii) Y-axis opposed wall portions opposed to each other to sandwich the supported linear shaft portion from both sides in the Y-axis direction,

the opening of the swing support member opens on one side in the Z-axis direction to permit relative movement of the supported linear shaft portion in the Z-axis direction, and

the Z-axis movement absorption mechanism includes the linear shaft portion of the swing member and the opening of the main body.

9. The operation apparatus according to claim 3, wherein

the movable operation unit is in contact with a base surface of the main body in the Z-axis direction and slidable on the base surface, and

the Z-axis positioning mechanism includes the movable operation unit and the base surface.

10. The operation apparatus according to claim 9, wherein the movable operation unit is in surface contact with the base surface and slidable on the base surface.

11. The operation apparatus according to claim 10, wherein

the sliding rail portion is in a tubular shape and linearly extends in the X-axis direction, and

the opening holds the linear shaft portion inserted in the X-axis direction and rotatable around the X-axis.

12. The operation apparatus according to claim 1, further comprising:

a linkage mechanism including a link arm having at least two arms link-connected with each other, wherein

the linkage mechanism has a first one end mounted to a stationary shaft portion provided on a side of the main body and rotatable around the Z-axis relative to the stationary shaft portion,

the linkage mechanism has a second one end mounted to the movable operation unit and rotatable around the Z-axis relative to the movable operation unit, and

the linkage mechanism is configured to enable at least the movable operation unit to move on the two-dimensional operation surface.

13. The operation apparatus according to claim 12, further comprising:

a counterforce application unit configured to apply a counterforce to disturb a rotation motion of each of the at least two arms of the linkage mechanism.

14. The operation apparatus according to claim 12, further comprising:

an instructed position detection unit configured to calculate a position of the movable operation unit on the two-dimensional operation surface based on a rotation angle of the at least two arms of the linkage mechanism.

15. The operation apparatus according to claim 12, wherein

the linkage mechanism includes:

a first link arm including

a first stationary shaft portion provided in the main body,

a first arm mounted to the first stationary shaft portion and rotatable around the Z-axis,

a first intermediate movable shaft portion provided in the first arm, and

a second arm mounted to the first intermediate movable shaft portion and rotatable around the Z-axis;

a second link arm including

a third arm mounted to a second stationary shaft portion, which is provided in the main body, or the first arm and rotatable around the Z-axis,

a second intermediate movable shaft portion provided in the third arm,

a fourth arm mounted to the second intermediate movable shaft portion and rotatable around the Z-axis,

the first link arm and the second link arm are link-connected at the second arm and the fourth arm and rotatable around the Z-axis, and

the movable operation unit is mounted to one of the second arm and the fourth arm or a link-connection between the second arm and the fourth arm and rotatable around the Z-axis.

16. The operation apparatus according to claim 1, wherein the movable operation unit is in a shape such that rotation of the movable operation unit is visually recognizable when rotating around the Z-axis.