Operation input device

Abstract

The present invention is provided with: an operation unit that is operated by a user; and an actuator having a movable body to which the operation unit is connected, the actuator being electromagnetically driven to execute the operation of the movable body that imparts an operation feeling to a user, and the operation of the movable body that presents an operation position of the operation unit or promotes an operation to the user.

Description

Technical Field

[0001] The present invention relates to an operation input device operated by a user. Background Art

[0002] Operation buttons, switches, etc. operated by the user are formed in a protruding shape to facilitate user identification. However, in recent years, due to the emphasis on design, there is a desire to provide an operation portion that protrudes and does not become an obstacle when not in operation.

[0003] For example, Patent Document 1 discloses a selector knob that is disposed on a center console of a car and is protruded and operable when the car engine is started (the vehicle is powered on), and is lowered and retracted when the vehicle is powered off.

[0004] The selector knob is freely raised and lowered by a lifting mechanism that converts the motor's rotation into linear motion using multiple power transmission components. When the vehicle's power is off, the selector knob is stored in the center console and does not protrude from the center console surface.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: U.S. Patent Application Publication No. 2019 / 0195322 Summary of the Invention

[0008] Problems to be solved by the invention

[0009] However, in existing selector knob structures, when miniaturized, the central knob, acting as the operating portion, protrudes when the vehicle power is turned on. This allows visual confirmation of its position, ensuring operability during operation. However, the operating portion itself is smaller, and its protrusion is also reduced. This also reduces the user's operational feel when operating the operating portion. Therefore, it is considered to impart vibration and force (force feedback) to the operating portion during operation to enhance the user's operational feel and provide the user with an optimal operational feel.

[0010] Specifically, if the overall structure described in Patent Document 1 is miniaturized, the movable area of ​​the operating unit will also be reduced, and as a result, the operational feel experienced by the user with their finger will also be reduced. Therefore, it is conceivable that during operation, vibrations and forces that respond to the user's operation are generated by the actuator and transmitted to the operating unit, providing the user with an operational feel (force feedback).

[0011] However, in the structure described in Patent Document 1 (the structure of the above-mentioned conventional central knob), a force feedback structure that imparts vibration and force to the operating portion itself cannot be used in the structure including a motor and a power transmission mechanism that has a motor for raising and lowering the central knob and a plurality of power transmission components, thereby failing to assist in the operational feel.

[0012] An object of the present invention is to provide an operation input device that can present the position of an operation portion, ensure the operability and operational feel of the operation portion during operation, and achieve miniaturization.

[0013] Solutions to Problems

[0014] One embodiment of the operation input device of the present invention adopts the following structure:

[0015] an operating unit operated by a user; and

[0016] The actuator includes a movable body connected to the operating portion, and is electromagnetically driven to perform operations of the movable body to provide the user with an operational feel and to present the user with an operational position of the operating portion or to facilitate operation.

[0017] One embodiment of the operation input device of the present invention comprises:

[0018] An actuator having a movable body connected via a protruding portion to an operating portion that is pressed by a user, and a fixed body that has the operating portion disposed on the outside and houses the movable body therein, wherein the movable body is electromagnetically driven to move within the fixed body in response to the pressing operation, thereby providing the user with an operational feeling; and

[0019] A buffer member is disposed between the movable body and the fixed body.

[0020] Effects of the Invention

[0021] According to the present invention, the position of the operating portion can be presented by the operation of the operating portion accompanying the operation of the movable body, and the operability and operational feel of the operating portion can be ensured during operation while achieving miniaturization. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a perspective view of the external appearance of the operation input device according to Embodiment 1 of the present invention.

[0023] Figure 2 yes Figure 1 Partial cross-sectional view taken along line A-A.

[0024] Figure 3 This is a perspective view of the external appearance of the operation input device in accordance with the first embodiment of the present invention, showing a state where the operator's face is displaced.

[0025] Figure 4 yes Figure 3 Partial cross-sectional view taken along line BB.

[0026] Figure 5 It is an exploded perspective view of the operation input device according to Embodiment 1 of the present invention.

[0027] Figure 6 This is a perspective view of the appearance of the actuator of the operation input device in accordance with the first embodiment of the present invention.

[0028] Figure 7 It is a longitudinal sectional view showing the main structure of the actuator.

[0029] Figure 8 This is a diagram showing the internal structure of the actuator with the outer casing removed.

[0030] Figure 9 This is an exploded perspective view of the actuator.

[0031] Figure 10 It is a three-dimensional diagram of a movable body.

[0032] Figure 11 It is a diagram for explaining the operation of the actuator according to the first embodiment of the present invention.

[0033] Figure 12A as well as Figure 12B It is a diagram for explaining sensing by a magnetic sensor.

[0034] Figure 13 This is a diagram schematically showing the main configuration of the operation input device according to the first embodiment of the present invention.

[0035] Figure 14 This is a diagram schematically showing a main configuration of a modified example of the operation input device according to the first embodiment of the present invention.

[0036] Figure 15 This is a diagram showing an example of operation control of an actuator in an operation input device.

[0037] Figure 16A 、 Figure 16B as well as Figure 16C This is a diagram showing an example of an actuator operation mode.

[0038] Figure 17A as well as Figure 17B This is a diagram showing an example of an operation mode of the operation input device.

[0039] Figure 18A 、 Figure 18B 、 Figure 18C 、 Figure 18D 、 Figure 18E as well as Figure 18F This is a diagram showing an example of an operation mode of the operation input device.

[0040] Figure 19 This is a flowchart for explaining an example of an operation mode using the operation input device according to the first embodiment of the present invention.

[0041] Figure 20 This is a flowchart for explaining an example of an operation mode using the operation input device according to the first embodiment of the present invention.

[0042] Figure 21 This is a flowchart for explaining an example of an operation mode using the operation input device according to the first embodiment of the present invention.

[0043] Figure 22A 、 Figure 22B as well as Figure 22C This is a diagram showing an example of the operation of the operation input device according to the first embodiment of the present invention.

[0044] Figure 23 This is a flowchart for explaining the operation mode of the operation input device according to the first embodiment of the present invention.

[0045] Figure 24A as well as Figure 24B This is a diagram showing an example of the operation of the operation input device according to the first embodiment of the present invention.

[0046] Figure 25 This is a perspective view of the external appearance of an operation input device according to Embodiment 2 of the present invention.

[0047] Figure 26 It is an exploded perspective view of an operation input device according to a second embodiment of the present invention.

[0048] Figure 27 yes Figure 25 Partial cross-sectional view taken along line C-C.

[0049] Figure 28 This is an external perspective view showing a state where the operator face is protruded in the operation input device according to the second embodiment of the present invention.

[0050] Figure 29 yes Figure 28 Partial cross-sectional view viewed along line D-D.

[0051] Figure 30 This is a perspective view of the external appearance of an operation input device according to a third embodiment of the present invention.

[0052] Figure 31 yes Figure 30 Partial sectional view viewed along line F-F.

[0053] Figure 32 This is a perspective view of the external appearance of the operation input device in accordance with the third embodiment of the present invention after a face displacement operation is performed.

[0054] Figure 33 yes Figure 32 Partial cross-sectional view viewed along line G-G.

[0055] Figure 34 It is an exploded perspective view of an operation input device according to a third embodiment of the present invention.

[0056] Figure 35 This is an external perspective view of an actuator of an operation input device according to a third embodiment of the present invention.

[0057] Figure 36 It is a longitudinal sectional view showing the main structure of the actuator.

[0058] Figure 37 This is a diagram showing the internal structure of the actuator with the outer casing removed.

[0059] Figure 38 This is an exploded perspective view of the actuator.

[0060] Figure 39 It is a three-dimensional diagram of a movable body.

[0061] Figure 40 It is a diagram for explaining the operation of the actuator according to the third embodiment of the present invention.

[0062] Figure 41A as well as Figure 41B It is a diagram for explaining sensing by a magnetic sensor.

[0063] Figure 42 This is a diagram schematically showing the main configuration of an operation input device according to a third embodiment of the present invention.

[0064] Figure 43 This is a diagram schematically showing a main configuration of a modified example of the operation input device according to the third embodiment of the present invention.

[0065] Figure 44 This is a diagram showing an example of operation control of an actuator in an operation input device.

[0066] Figure 45A 、 Figure 45B as well as Figure 45C This is a diagram showing an example of an actuator operation mode.

[0067] Figure 46A as well as Figure 46B This is a diagram showing an example of an operation mode of the operation input device.

[0068] Figure 47A 、 Figure 47B 、 Figure 47C 、 Figure 47D 、 Figure 47E as well as Figure 47F This is a diagram showing an example of an operation mode of the operation input device.

[0069] Figure 48 This is a flowchart for explaining an example of an operation mode using the operation input device according to the third embodiment of the present invention.

[0070] Figure 49 This is a flowchart for explaining an example of an operation mode using the operation input device according to the third embodiment of the present invention.

[0071] Figure 50 This is a flowchart for explaining an example of an operation mode using the operation input device according to the third embodiment of the present invention.

[0072] Figure 51A 、 Figure 51B as well as Figure 51C This is a diagram showing an example of the operation of the operation input device according to the third embodiment of the present invention.

[0073] Figure 52 This is a flowchart for explaining the operation mode of the operation input device according to the third embodiment of the present invention.

[0074] Figure 53A as well as Figure 53B This is a diagram showing an example of the operation of the operation input device according to the third embodiment of the present invention.

[0075] Figure 54 It is a longitudinal sectional view showing a main structure of an actuator of an operation input device according to a fourth embodiment of the present invention.

[0076] Figure 55 It is a longitudinal sectional view showing a main structure of an actuator of an operation input device according to a fifth embodiment of the present invention.

[0077] Figure 56 It is a longitudinal sectional view showing a main structure of an actuator of an operation input device according to a sixth embodiment of the present invention.

[0078] Figure 57 It is a longitudinal sectional view showing a main structure of an actuator of an operation input device according to a seventh embodiment of the present invention.

[0079] Figure 58 It is a longitudinal sectional view showing a main structure of an actuator of an operation input device according to an eighth embodiment of the present invention.

[0080] Figure 59 It is a longitudinal sectional view showing a main structure of an actuator of an operation input device according to a ninth embodiment of the present invention.

[0081] Figure 60 This is a perspective view showing the appearance of an actuator of the operation input device in accordance with a tenth embodiment of the present invention.

[0082] Figure 61 It is an exploded perspective view of an actuator of the operation input device in accordance with the tenth embodiment of the present invention.

[0083] Figure 62 It is a longitudinal sectional view showing a main structure of an actuator of the operation input device in accordance with the tenth embodiment of the present invention. DETAILED DESCRIPTION

[0084] Hereinafter, this embodiment will be described in detail with reference to the accompanying drawings. Components common to the various drawings are denoted by the same reference numerals, and their descriptions are omitted as appropriate.

[0085] (Implementation 1)

[0086] Figure 1 This is a perspective view of the appearance of the operation input device according to the first embodiment of the present invention. Figure 2 yes Figure 1 Partial cross-sectional view taken along line A-A. Figure 3 This is a perspective view of the appearance of the operation input device in the first embodiment of the present invention after the face is displaced by operation. Figure 4 yes Figure 3 The sectional view of the part viewed along the BB line. Figure 5 This is an exploded perspective view of the operation input device according to Embodiment 1 of the present invention. Furthermore, in these embodiments, the directions such as up, down, left, right, front, and back used to illustrate the structure and operation of the various components of the operation input device are not absolute but relative. These directions should be interpreted as being appropriate when the operation surface is in the illustrated position, but should be modified to reflect the change in position.

[0087] The operation input device 1 has the following functions: providing a tactile sensation as an operation feeling including vibration, reaction force, thrust, displacement, etc. to the user through an operation portion operated by the user's contact or pressing; and detecting the position of the operation portion based on the operation and the load on the operation portion.

[0088] For example, when a user attempts to operate an operating unit, the operation input device 1 observes, recognizes, and determines the user's situation and moves the operating unit. This allows the position of the operating unit to be identified, or the movement of the operating unit to be detected. In particular, by driving the operating unit operated by the user, the operation input device 1 can proactively encourage the user to use the operating unit.

[0089] like Figures 1 to 4 As shown, the operation input device 1 includes: a device housing 2 ; operation surfaces 5 - 1 to 5 - 3 that are movably disposed on the surface of the device housing 2 and operated by a user; and an actuator 10 .

[0090] <Device housing 2>

[0091] The device housing 2 is formed into a hollow rectangular parallelepiped and includes a base 3 and a cover 4. The base 3 is plate-shaped, and the box-shaped cover 4 with an open bottom surface is attached via a fixing member 7 so as to cover the base 3 from above.

[0092] Inside the device housing 2 , an electromagnetically driven actuator 10 is disposed for moving the operation surface portions 5 - 1 to 5 - 3 in the vertical direction, specifically, upward from the surface 4 b of the cover portion 4 .

[0093] The device housing 2 houses the main bodies of the plurality of actuators 10 - 1 to 10 - 3 .

[0094] Through holes 3a are formed at predetermined intervals in the base portion 3. The actuators 10-1 to 10-3 are mounted on the base portion 3 while being held by the bracket (holding portion) 6 so as to be located opposite the through holes 3a.

[0095] The bracket 6 includes semicircular segmented bodies 6a arranged to surround the actuators 10-1 to 10-3. The segmented bodies 6a are secured by fixing members 6b, thereby sandwiching the actuators 10-1 to 10-3. The segmented bodies 6a are then secured to the base 3 using fixing members 6c. This prevents the actuators 10-1 to 10-3 from moving left, right, front, back, or up or down relative to the base 3.

[0096] The actuators 10 - 1 to 10 - 3 include output shafts (protrusions) 25 that are arranged to protrude upward from the center of the upper surface of a fixed body serving as a main body and move in the vertical direction.

[0097] In the actuators 10 - 1 to 10 - 3 , the fixed body is formed in a cylindrical shape, and the output shaft portion 25 is directly fixed to the operation surface portions 5 - 1 to 5 - 3 .

[0098] The output shaft portion 25 extends perpendicularly to the base portion 3 , and the front end portion is joined perpendicularly to the operation surface portions 5 - 1 to 5 - 3 .

[0099] The operation surface portions 5 - 1 to 5 - 3 are arranged in an opening portion 4 a formed in the surface 4 b of the cover portion 4 , and are movable in the up-down direction in the opening portion 4 a .

[0100] The operation surfaces 5-1 to 5-3 have surface portions that are freely retractable relative to the device housing 2, and these surface portions are flush with the surface 4b. Furthermore, the direction of movement of the movable body 20 when imparting an operational feel and the direction of movement of the movable body 20 when presenting or facilitating an operational position of the operation surface 5 coincide with the direction of retraction and emergence of the operation surfaces 5-1 to 5-3.

[0101] The operation surface portions 5 - 1 to 5 - 3 are arranged to be movable vertically relative to the surface 4 b of the cover portion 4 (housing 2 ). This is because the movable body 20 is arranged to be movable in a direction perpendicular to the surface 4 b of the cover portion 4 .

[0102] The operation surfaces 5-1 to 5-3 preferably have a shape that is easy for the user to operate. In this embodiment, the operation surfaces 5-1 to 5-3 are operated by the user's fingers and are therefore formed in a disc shape having a surface with a circular diameter for the fingertips to contact, corresponding to the user's fingers.

[0103] like Figures 1 to 4 As shown, the operating surfaces 5-1 to 5-3 are flush with the surface 4b of the cover 4 in the inoperative state, and are displaceable to a position protruding upward from the surface 4b of the cover 4 in the operative state. As the operating surfaces 5-1 to 5-3 move up and down, the output shaft 25 also moves up and down accordingly.

[0104] <Overview of Actuator 10>

[0105] Figure 6 FIG. 1 is a perspective view of the appearance of an actuator in the operation input device according to the first embodiment of the present invention. Figure 7 : is a longitudinal sectional view showing the main structure of the actuator. Figure 8 FIG. 1 is a diagram showing the internal structure of the actuator after the outer casing is removed. Figure 9 This is an exploded perspective view of the actuator.

[0106] The actuator 10 includes a movable body 20 connected to the operation face 5. The actuator 10 is electromagnetically driven to operate the movable body 20, which provides the user with an operational feel via the operation face 5. Furthermore, the actuator 10 is electromagnetically driven to operate the movable body 20, which presents the user with an operational position of the operation face 5 or facilitates the operation.

[0107] The actuator 10 is, for example, a sensory presentation actuator, and is configured to transmit the reciprocating motion of the movable body 20 corresponding to the user's contact operation on the operation face 5 as the user's operational sense (tactile sensation, force sensation, etc.). The actuator 10 of this embodiment is configured to indicate the position of the operation face 5 and facilitate operation of the operation face 5 by moving the operation face 5 itself, which serves as the operating portion and is directly connected to the movable body. Furthermore, when the movable body is moved to move the operation face 5, the position of the operation face 5 can be more reliably indicated to the user by emitting light.

[0108] The actuator 10 is used as a device for detecting operations and providing operational (tactile) feedback. Tactile feedback, in addition to tactile feedback, also provides feedback to the user via the user-operated operating surface 5, such as force, through the operation and vibration of the movable body 20. This function, which can also be referred to as tactile feedback, force feedback, or force feedback, is used to convey a sense of touch and operational sensation.

[0109] like Figure 6 as well as Figure 7 As shown, the actuator 10 uses the axial direction (up and down direction) of the housing 12 as the moving direction, so that the movable body 20 can be accommodated in the hollow housing 12 so as to reciprocate between the upper and lower end surfaces. The housing 12 and the coils 61 and 62 accommodate the movable body 20 so that the protruding end side of the output shaft portion 25 protrudes to the outside. The actuator 10 has a magnetic sensor 91 for detecting the moving position of the movable body 20. The actuator 10 is connected to the operating surface 5 (5-1, 5-2, 5-3) (see Figures 3 to 5 ) are connected to transmit the movement of the movable body to the operation surface 5 (5-1, 5-2, 5-3).

[0110] <Structure of Actuator 10>

[0111] The actuator 10 includes a magnet 30 on the movable body 20 and coils 61 and 62 on the fixed body 50. The movable body 20 reciprocates in a linear direction through the cooperation of the energized coils 61 and 62 and the magnet 30. The actuator 10 also includes elastic support portions 81 and 82 that support the movable body 20 so that it can reciprocate relative to the fixed body 50.

[0112] Specifically, actuator 10 includes a movable body 20 having a pair of yokes 41 and 42 and a pair of spring stoppers 22 and 24 in addition to magnet 30; and a fixed body 50 having an outer yoke 70 in addition to a pair of annular coils 61 and 62. Furthermore, a pair of elastic support members 81 and 82 are provided between movable body 20 and fixed body 50.

[0113] The movable body 20 is movably mounted on the fixed body 50 via the elastic support portions 81 and 82 in the moving direction of the movable body when imparting an operational feel and in the moving direction of the movable body 20 when presenting the operating position of the operating surface 5 ( 5 - 1 , 5 - 2 , 5 - 3 ) or promoting an operation.

[0114] In addition, the yokes 41, 42, spring stoppers 22, 24, and coils 61, 62 are each provided in a pair, but are not limited thereto. As long as they can move freely in both directions or unidirectionally in a straight line direction, each part can also be provided with one or more than three.

[0115] In the actuator 10, the coils 61 and 62, the outer yoke 70, the magnet 30, and the yokes 41 and 42 constitute a magnetic circuit that enables the movable body 20 to move. In the actuator 10, the coils 61 and 62 are energized from a power supply unit (not shown) via the terminal portion 75, and the movable body 20 is movable. The movable body 20 can reciprocate in the axial bidirectional direction as the reciprocating direction or in one direction as the axial direction. The actuator 10 moves in the axial bidirectional direction (see Figure 11 direction of the arrow).

[0116] In the actuator 10 of this embodiment, the movable body 20 reciprocates in a moving direction (also the axial direction of the coils 61 and 62) along the retaining portion main body (protective wall portion) 522 disposed between the movable body 20 and the coils 61 and 62 held by the coil retaining portion 52. Furthermore, the moving direction is not only the axial direction of the coils 61 and 62, but also the direction of excitation of the magnet 30 and the axial direction of the coil retaining portion 52.

[0117] In addition, if Figure 8 As shown, the actuator 10 may also be configured such that the unit 15, in which the fixed body 50 and the movable body 20 are connected by elastic support portions 81 and 82, is housed within a housing 12 having a housing body 13 and a cover 14. This allows the main components of the actuator 10 to be assembled with high precision in a separate process from the housing 12.

[0118] <Movable Body 20>

[0119] The movable body 20 is arranged so that, when not movable, the center of its length in the reciprocating direction is opposed to the center of its length in the reciprocating direction of the coil holding portion 52 with a predetermined gap therebetween in a direction perpendicular to the axial direction of the movable body 20 via the elastic support portions 81 and 82. In this embodiment, the center of its length in the reciprocating direction of the magnet 30 and the yokes 41 and 42 is preferably arranged so as to oppose the center of its length in the reciprocating direction of the coils 61 and 62 spaced apart from each other in a direction perpendicular to the reciprocating direction. Alternatively, a magnetic fluid may be interposed between the holding portion main body 522 and the movable body 20.

[0120] like Figure 7 、 Figures 9 and 10 As shown, the movable body 20 includes an output shaft portion 25 , a first spring fixing portion 26 , and a second spring fixing portion 28 in addition to the magnet 30 , the yokes 41 , 42 , and the spring stoppers 22 , 24 .

[0121] The movable body 20 is provided with yokes 41 and 42, spring stoppers 22 and 24, a first spring fixing portion 26, and a second spring fixing portion 28, respectively, arranged continuously in both directions of the reciprocating motion, centered around the magnet 30. Specifically, the movable body 20 has the yokes 41 and 42 stacked on the front and back surfaces 30a and 30b of the magnet 30. The spring stoppers 22 and 24, one end of which engages with the openings 412 and 422 of the yokes 41 and 42, have elastic support portions 81 and 82 engaged at the other end.

[0122] Furthermore, in movable body 20, outer peripheral surfaces 20a of magnet 30 and yokes 41 and 42 are positioned opposite inner peripheral surface 522a of retaining portion main body 522 at a predetermined distance therefrom. When movable body 20 reciprocates, outer peripheral surface 20a reciprocates along inner peripheral surface 522a without contact.

[0123] The magnet 30 is solid and magnetized in the reciprocating direction. Specifically, the magnet 30 is formed into a disk shape, with front and back surfaces 30a and 30b separated in the reciprocating direction (thickness direction) and having magnetic pole surfaces of different polarities (for example, the front surface 30a is the south pole and the back surface 30b is the north pole).

[0124] The magnet 30 is positioned radially inward of the coils 61 and 62 (described in detail later). Here, "radial" refers to a direction perpendicular to the axes of the coils 61 and 62, and also perpendicular to the direction of reciprocating motion. This radial "gap" is the distance between the coils 61 and 62, including the retaining portion body 522, and the magnet 30, and is designed to allow the coils 61 and 62 to move without contacting each other in the direction of reciprocating motion of the movable body 20. Furthermore, a predetermined gap is also provided between the retaining portion body 522 and the magnet 30.

[0125] In this embodiment, the magnet 30 is arranged so that the center of the radially outer peripheral surface in the width direction is opposite to the center of the holding portion body 522 in a direction perpendicular to the axial direction. Furthermore, the magnet 30 may be arranged inside the coils 61 and 62 so as to face the two excitation surfaces in the direction of extension of the axes of the coils 61 and 62, that is, in the direction of reciprocating motion. Other shapes, such as a cylindrical or plate-like shape, may also be used.

[0126] In this embodiment, the magnet 30 is solid. Unlike a cylindrical body, this saves time and effort in machining the opening, and the area of ​​the front and back surfaces that will become the magnetic pole faces is not reduced by the formation of the opening. Furthermore, the axial center of the magnet 30 is preferably aligned with the axial center of the movable body 20.

[0127] The exciting direction of the magnet 30 is parallel to the moving direction of the movable body 20 .

[0128] Yokes 41 and 42 are magnetic bodies and constitute a movable body side magnetic circuit together with magnet 30. Yokes 41 and 42 concentrate the magnetic flux of magnet 30, allowing it to flow efficiently without leakage, and effectively distribute the magnetic flux flowing between magnet 30 and coils 61 and 62.

[0129] In addition to functioning as a part of the magnetic circuit, yokes 41 and 42 also function to fix spring stoppers 22 and 24. Furthermore, yokes 41 and 42 may function as the main body of movable body 20 and as a counterweight in movable body 20.

[0130] In this embodiment, the yokes 41 and 42 are formed into annular flat plates having the same outer diameter as the magnet 30. The yokes 41 and 42 are fixed to the magnet 30 so that their outer peripheral surfaces are flush with the outer peripheral surface of the magnet, and together with the outer peripheral surface of the magnet, form the outer peripheral surface 20a of the movable body 20.

[0131] The yokes 41 and 42 are identically shaped components arranged around the magnet 30, but may also be shaped differently. Furthermore, the yokes 41 and 42 are attracted by the magnet 30 and secured to the magnet 30, and may be fixed to the magnet 30 using, for example, a thermosetting adhesive such as epoxy resin or an anaerobic adhesive.

[0132] Openings 412 and 422 are provided in the center of each of the yokes 41 and 42 so as to penetrate in the axial direction, that is, in the thickness direction. One end portion of the upper and lower spring stoppers 22 and 24 is fitted into and fixed to the openings 412 and 422, respectively.

[0133] Openings 412 and 422 support spring stoppers 22 and 24 so that their respective axes (here, aligned with the centers of elastic support members 81 and 82) are located on the central axis of movable body 20. Openings 412 and 422 allow adjustment of the degree of opening of yokes 41 and 42, adjust the weight of movable body 20, and set the optimal reciprocating motion output.

[0134] In the present embodiment, yokes 41 and 42 are arranged to face coils 61 and 62 in a direction perpendicular to the axial directions of coils 61 and 62 on the inner sides (radially inner sides) of coils 61 and 62 when movable body 20 is not reciprocating.

[0135] In the yokes 41 and 42, it is preferable that the height position of the upper surface of the yoke 41 on the upper side (front side) of the magnet 30 is opposite to the center position of the upper coil 61 in the height direction (reciprocating direction). In addition, it is preferable that the height position of the lower surface of the yoke 42 on the lower side (back side) of the magnet 30 is opposite to the center position of the lower coil 62 in the height direction (reciprocating direction).

[0136] Spring stoppers 22 and 24 secure the movable body magnetic circuit to elastic supports 81 and 82 and serve as a counterweight for movable body 20. Spring stoppers 22 and 24 are axially symmetrically arranged across magnet 30 and yokes 41 and 42 to increase the reciprocating motion output of movable body 20 driven by power supplied to the coil.

[0137] In this embodiment, the spring stoppers 22 and 24 are formed into the same shape. Therefore, details of the spring stopper 24 will be described by including the corresponding reference numerals in the description of the spring stopper 22, and the description of the spring stopper 24 will be omitted. Since the spring stoppers 22 and 24 are formed into the same shape, the production cost of components during the manufacture of the actuator 1 can be reduced.

[0138] In the present embodiment, the spring stoppers 22 and 24 also function as axes of the movable body extending along the central axis of the movable body 20 , and are interposed between the yokes 41 and 42 and the elastic support portions 81 and 82 .

[0139] The spring stoppers 22 and 24 have engaging portions 222 and 242 and spring fixing portions 224 and 244. These engaging portions 222 and 242 and spring fixing portions 224 and 244 are respectively provided continuously in the reciprocating direction.

[0140] The spring stoppers 22 and 24 are cylindrical and have a through hole 23 extending therethrough. The base end of the output shaft 25 is inserted into the through hole 23 of the spring stopper 22 and is firmly fixed thereto.

[0141] The joints 222 and 242 are cylindrical bodies positioned along the axis of the movable body 20 and are joined to the yokes 41 and 42, respectively. One end of the joints 222 and 242 is inserted into the openings 412 and 422 of the yokes 41 and 42, respectively, for internal engagement. Meanwhile, the other ends of the joints 222 and 242 are positioned in opposite directions with the magnet 30 as the center, forming two ends separated in the direction of movement of the movable body 20. The other ends are joined to the elastic support portions 81 and 82, respectively, described below.

[0142] Spring stoppers 22 and 24 are joined by press-fitting into yokes 41 and 42, but this is not limiting. For example, they may be joined by bonding using a thermosetting adhesive such as epoxy resin or an anaerobic adhesive. Furthermore, while joining portions 222 and 242 are tubular, they may also be solid cylinders or rods with a recessed portion on their axis.

[0143] The spring fixing portion 224 is provided in the spring stopper 22 so as to protrude from the engaging portion 222 to the other side (upward) and is a cylindrical body having an outer diameter larger than that of the engaging portion 222. The engaging surface of the spring fixing portion 224, which is the front end (upper end) thereof, is arranged around the output shaft portion 25.

[0144] The output shaft 25 is connected to the movable body 20 and moves along with the movable body 20, outputting the movement of the movable body 20 to the outside. The output shaft 25 is arranged on the axis of the movable body 20. The base end of the output shaft 25 is embedded in the spring stopper 22 and fixed to the movable body 20. The other end is exposed to the outside of the actuator 10 through the central opening 146 of the cover 14.

[0145] The output shaft portion 25 is inserted through the inner circumferential portion 802, the end portion (the other end portion) on the inner diameter side of the upper leaf spring serving as the elastic support portion 81. The inner circumferential portion 802 is the central portion of the circular leaf spring and is held between the spring fixing portion 224 and the first spring fixing portion 26 while in contact with the engaging surface of the spring fixing portion 224. Thus, the spring fixing portion 224 is engaged with the elastic support portion 81.

[0146] The output shaft portion 25 is provided on the movable body 20 so as to protrude relative to the elastic support portion 81 to the opposite side of the magnet 30 in one direction of the moving direction of the movable body 20, and can move freely forward and backward outside the fixed body 50. At the front end portion of the output shaft portion 25, the central portion of the back side of the operating face portion 5 is fixed in a manner orthogonal to the extension direction of the output shaft portion 25. The user who operates the operating face portion 5 directly transmits the drive of the movable body 20 via the operating face portion 5 and the output shaft portion 25. Thus, the operation input device 1 can respond at high speed when performing vibration output, displacement output (displacement of the movable body 20 corresponding to the operation), and load detection, and can provide strong feedback. In addition, it is possible to express an operational feel (tactile feel) corresponding to long-stroke operations.

[0147] On the other hand, the spring fixing portion (lower spring fixing portion) 244 arranged on the opposite side of the spring fixing portion 224 of the first spring stopper 22 via the magnet 30 is engaged with the inner peripheral portion 802 as the inner diameter side end portion of the lower leaf spring serving as the elastic support portion 82 .

[0148] The spring fixing portion 244 is provided on the spring stopper 24 so as to protrude toward the other side (downward) from the engaging portion 242, and is a cylindrical body having a larger outer diameter than the engaging portion 242. In the spring fixing portion 244, the inner peripheral portion 802 of the lower leaf spring serving as the elastic support portion 82 is brought into contact with the engaging surface serving as the front end (lower end) thereof, and the inner peripheral portion 802 is clamped together with the second spring fixing portion 28 inserted into the through-hole opening in the engaging surface.

[0149] Specifically, the second spring fixing portion 28 inserts the shaft-shaped insertion portion 282 into the through-hole of the spring fixing portion 244, so that the flange 284 provided on the outer periphery of the base end portion of the insertion portion, together with the engaging surface of the spring fixing portion 244, clamps the inner periphery 802 of the elastic support portion 82. As a result, the spring fixing portion 244 and the elastic support portion 82 are engaged.

[0150] For example, a blind rivet or other rivet may be used as the second spring fixing portion 28. The second spring fixing portion 28 is fixed in the through hole of the spring fixing portion 244 by press-fitting the shaft-shaped insertion portion 282 with riveting or the like.

[0151] Furthermore, simply by providing the spring stoppers 22 and 24 in the movable body side magnetic circuit, the upper and lower leaf springs serving as the elastic support portions 81 and 82 can be easily assembled to the movable body 20 , thereby improving assemblability.

[0152] Spring stoppers 22 and 24 may be made of a magnetic material, but are preferably made of a non-magnetic material. If spring stoppers 22 and 24 are made of a non-magnetic material, the magnetic flux from yoke 41 will not flow upward, and the magnetic flux from yoke 42 will not flow downward, allowing the magnetic flux to flow efficiently toward coils 61 and 62 located on the outer periphery of yokes 41 and 42.

[0153] <Elastic Supporting Parts 81, 82>

[0154] The elastic support portions 81 and 82 are arranged on both sides of the movable body 20 in the moving direction, and support the movable body 20 so that it can move in the moving direction. The elastic support portions 81 and 82 are leaf springs, and are arranged so as to sandwich the movable body 20 in the moving direction of the movable body 20. Furthermore, they are bridged across the movable body 20 and the fixed body 50 so as to intersect the moving direction.

[0155] Specifically, the elastic support portions 81 and 82 are arranged so as to span the two ends (upper and lower ends) of the movable body 20 that are separated in the reciprocating direction and the opening edge of the fixed body 50 (coil holding portion 52) that is arranged radially outward of the two ends. In this embodiment, the elastic support portions 81 and 82 are arranged so as to face each other in a direction perpendicular to the reciprocating direction, sandwiching the movable body 20 in the reciprocating direction.

[0156] The elastic support parts 81 and 82 can be either non-magnetic or magnetic (specifically, ferromagnetic). As long as the elastic support parts 81 and 82 are leaf springs made of non-magnetic materials, stainless steel plates such as SUS304 and SUS316 can also be used to form them. In addition, as long as the elastic support parts 81 and 82 are magnetic, stainless steel plates such as SUS301 can be applied. As the material of the elastic support parts 81 and 82, it is known that, compared with non-magnetic materials (SUS304, SUS316, etc.), magnetic materials (for example, SUS301) have high durability and are cheap. In this embodiment, the elastic support parts 81 and 82 are made of SUS301.

[0157] Elastic support parts 81 and 82 support movable body 20 so that movable body 20 does not contact fixed body 50 during both non-reciprocating and reciprocating motions. Elastic support parts 81 and 82 may be made of any material as long as they can movably elastically support movable body 20.

[0158] Elastic support portions 81 and 82 each comprise a plurality of circular plate-shaped spiral springs that are flat in their normal state. Each elastic support portion 81 and 82 includes arc-shaped deformable arms 804 extending radially outward at equal intervals from the outer edge of the annular plate-shaped inner circumference portion 802. The ends of the deformable arms 804 are connected to an annular plate-shaped outer circumferential fixing portion 806.

[0159] The inner peripheral portion 802 has a shape configured to be disposed on the engaging surfaces of the spring fixing portions 224 , 24 of the spring stoppers 22 , 24 , and has, for example, an outer diameter substantially the same as the outer diameter of the engaging surfaces of the spring fixing portions 224 , 244 .

[0160] The deformable arm portion 804 is elastically deformable, with one end engaging the outer peripheral fixing portion 806 and the other end engaging the inner peripheral portion 802, thereby connecting the outer peripheral fixing portion 806 and the inner peripheral portion 802. Multiple deformable arm portions 804 are arranged in a spiral pattern, spaced at predetermined intervals in the circumferential direction between the inner peripheral portion 802 and the outer peripheral fixing portion 806. Alternatively, the movable body 20 may be supported by three or more elastic support portions (leaf springs) 81 and 82. These multiple leaf springs are mounted in a direction perpendicular to the direction of reciprocating motion.

[0161] In the elastic support portions 81 and 82, respective inner peripheral portions 802 are joined to the two ends (spring fixing portions 224 and 244) separated in the axial direction (reciprocating direction) of the movable body 20. Furthermore, in the elastic support portions 81 and 82, the outer peripheral fixing portion 806 is disposed at each of the two ends of the movable body 20 so as to extend radially outward (in the radial direction).

[0162] The outer peripheral fixing portion 806 has a notch formed on the outer peripheral edge, and is clamped between both opening edges of the coil holding portion 52 and the housing 12 when the movable range defining portion 54 of the coil holding portion 52 is engaged with the notch.

[0163] Specifically, in the elastic support portion 81, the outer peripheral fixing portion 806 is fixed within the housing 12 by being sandwiched between the annular upper end surface 527a of the flange portion 527 and the pressing portion 148 of the cover portion 14. The upper end surface 527a refers to the upper end surface of the portion of the upper flange portion 527 on the upper side (one side) that is away from the movable range forming portion 54.

[0164] Furthermore, in the lower elastic support portion 82, the outer peripheral fixing portion 806 is fixed to the lower end portion of the coil holding portion 52, radially outward of the movable body 20 in the actuator 10. Specifically, the outer peripheral fixing portion 806 of the elastic support portion 82 is fixed to the annular lower end surface 528a of the flange portion 528 forming the lower side of the lower end portion of the coil holding portion 52, at a position avoiding the movable range forming portion 54.

[0165] The plurality of elastic support portions 81 and 82 swirl in the same direction, for example, and have outer peripheral fixing portions 806 at one outer peripheral end fixed to the fixed body 50 and inner peripheral portions 802 at the other inner peripheral end fixed to the movable body 20 .

[0166] Thus, in this embodiment, multiple spiral leaf springs are used as the multiple elastic support portions 81 and 82. These are attached to the movable body 20 at two ends separated in the direction of movement, elastically supporting the movable body 20 relative to the fixed body 50. Consequently, as the amount of movement of the movable body 20 increases, the movable body 20 moves in a translational direction (here, in a direction perpendicular to the direction of movement) while slightly rotating. If the spiral directions of the multiple leaf springs are opposite, the leaf springs may move in a direction of mutual buckling or tension, thereby hindering smooth movement.

[0167] The actuator 10 includes a pair of elastic support portions 81 and 82, thereby improving the linear motion of the movable body 20 and enabling stable driving of the movable body 20 without being affected by external impacts or disturbances. In particular, the improved linear drive stability improves both the stability of the magnetic sensor output and the stability of the operational feel (tactile output).

[0168] In this embodiment, the elastic supports 81 and 82 are fixed to the movable body 20 so that they swirl in the same direction. Therefore, even if the movable body 20 moves a lot, it can still move smoothly, that is, it can deform in the axial direction. This allows the elastic supports 81 and 82 to have a larger amplitude, not only during movement but also during vibration, which can improve the vibration output.

[0169] However, depending on the desired vibration range of the movable body 20 , the swirling directions of the plurality of elastic support portions 81 and 82 may be designed to be opposite to each other.

[0170] On the other hand, the outer peripheral fixing portion 806 of the upper elastic support portion 81 is fixed to the upper end portion of the coil holding portion 52 in the radial direction. Figure 7 ) is fixed to a portion of the annular upper end surface 527a of the flange portion 527 on the upper side of the upper end portion thereof, which is away from the movable range forming portion 54. In addition, the structure of the coil holding portion 52 will be described in detail later.

[0171] The outer peripheral fixing portion 806 of the elastic support portion 82 is fixed within the housing 12 by being sandwiched between the annular lower end surface 528a of the flange portion 528 and the stepped portion 138 provided on the peripheral edge of the bottom portion 134. The lower end surface 528a refers to the end surface on the upper side (the other side) of the portion of the flange portion 528 on the lower side (the other side) that is away from the movable range forming portion 54.

[0172] The outer peripheral fixing portion 806 is formed into an annular shape, and its outer peripheral portion is formed by the upper and lower end surfaces 527a and 528a of the coil holding portion 52 (see Figure 7 ) and the pressing portion 148 and the step portion 138. Thus, the outer peripheral fixing portion 806 is fixed to the fixed body 50.

[0173] <Fixed body 50>

[0174] like Figure 7 As shown, the fixed body 50 holds the coils 61 and 62 and supports the movable body 20 movably in the moving direction (the coil axial direction, the axial direction of the movable body 20 ) via elastic support portions 81 and 82 on the radially inner side of the coils 61 and 62 .

[0175] The fixed body 50 includes the coil holding portion 52 for holding the coils 61 and 62 in addition to the coils 61 and 62 and the outer yoke 70 .

[0176] In addition to the coils 61 and 62 , substantially all components generating force feedback, such as the movable body 20 and the housing 12 , are connected to the coil holding portion 52 via the elastic support portions 81 and 82 , thereby constituting the actuator 10 .

[0177] The coil holding portion 52 is a cylindrical body that holds the coils 61 and 62 arranged on its outer circumference. The inner circumference 522a surrounds the magnet 30, and the movable body 20 having the magnet 30 is movably arranged therein. The coil holding portion 52 may be formed into a bobbin shape. In this case, the coils 61 and 62 are wound around the outer circumference of the cylindrical holding portion body (protective wall) inside the coil holding portion 52.

[0178] The coil holding portion 52 is a cylindrical body formed of a resin such as phenolic resin or polybutylene terephthalate (PBT). In the present embodiment, the coil holding portion 52 is formed of a material containing phenolic resin such as highly flame-retardant Bakelite.

[0179] The coil holding portion 52 is constructed from a material containing phenolic resin, which improves flame retardancy. Even when current flows through the held coils 61 and 62, generating heat due to Joule heat, this improves safety during operation. Furthermore, due to the improved dimensional accuracy, the positional accuracy of the coils 61 and 62 is also improved, thereby reducing variations in characteristics during movement, reciprocating motion, or vibration.

[0180] Specifically, the coil holding portion 52 includes a cylindrical holding portion body 522 , a central flange portion 526 and flange portions 527 and 528 protruding radially from the outer periphery of the holding portion body 522 , a terminal portion 75 , and a movable range forming portion 54 .

[0181] The retaining portion body 522 functions as a protective wall to protect the inner movable body 20 from collisions with the coils 61 and 62 during driving. The thickness of the retaining portion body 522 is such that even if the movable body 20 moves, the outer coils 61 and 62 will not be affected.

[0182] Coils 61 and 62 are arranged side by side in the coil axial direction between the central flange 526 and the flanges 527 and 528 (coil mounting portions 52b and 52c) on the outer periphery of the retaining portion main body 522. The retaining portion main body 522 surrounds the coils 61 and 62 radially outwardly relative to the outer periphery of the yokes 41 and 42 of the movable body 20 (the outer periphery of the magnet 30 and the yokes 41 and 42).

[0183] Specifically, the outer peripheral surface of the holding portion main body 522 is provided with concave coil mounting portions 52b and 52c partitioned by a central flange portion 526 and flange portions 527 and 528 and open radially outward on the outer peripheral side.

[0184] The terminal portion 75 functions as a connector portion for bundling the coil windings of the coils 61 and 62 and connecting to an external device. The coils 61 and 62 are connected to the external device via the terminal portion 75, and power can be supplied from the external device to the coils 61 and 62.

[0185] The terminal portion 75 is a conductive component that protrudes from the outer periphery of the holding portion body 522. In this embodiment, the terminal portion 75 is press-fitted into the outer periphery of the central flange portion 526, which is located at the center of the moving direction, on the outer periphery of the holding portion body 522. Thus, the terminal portion 75 is provided so as to protrude from the outer periphery of the central flange portion 526.

[0186] The flanges 527 and 528 are provided at both ends of the holding portion body 522 separated in the axial direction (in this embodiment, the moving direction, also the up-down direction), and constitute the upper and lower ends of the coil holding portion 52 .

[0187] Elastic support portions 81 and 82 are fixed to the ends of the flange portions 527 and 528 in the direction away from the central flange portion 526 (in this embodiment, the upper and lower ends).

[0188] The movable range defining portions 54 are provided at the upper and lower ends of the coil holding portion 52 , and define a movable range between the cover 14 and bottom 134 of the housing 12 and the movable body 20 when the coil holding portion 52 is housed in the housing 12 .

[0189] The movable range defining portion 54 is a protruding edge portion extending from each of the flanges 527 and 528 in the reciprocating direction (vertical direction). The movable range defining portion 54 is provided at a predetermined interval on the annular upper and lower end surfaces (also referred to as "upper end surface," "lower end surface," or "opening end surface") 527a and 528a of the flanges 527 and 528, respectively. The upper end surface 527a is the opening end surface on one side, and the lower end surface 528a is the opening end surface on the other side.

[0190] The flange portion 527 has a protruding movable range forming portion 54 on one opening end surface, protruding in the direction of movement. This opening end surface functions as a top surface receiving portion that receives the lid portion 14 via the movable range forming portion 54. The flange portion 528 has a protruding movable range forming portion 54 on the other opening end surface, protruding in the direction of movement. The other opening end surface functions as a bottom surface receiving portion that receives the bottom portion 134 via the movable range forming portion 54.

[0191] Furthermore, the movable range forming portion 54 is fitted into the cutouts provided in the elastic support portions 81 and 82 to position the elastic support portions 81 and 82 in the radial direction.

[0192] By fitting the movable range forming portion 54 into the notch, the mounting position of the elastic support portions 81 and 82 can be uniformly set to the coil holding portion 52 in each body of the unit 15, and the elastic support portions 81 and 82 can be stably positioned relative to the coil holding portion 52. In addition, the elastic support portions 81 and 82 are not fixed to the fixed body side via multiple components relative to the coil holding portion 52. Thus, in a structure that is not easily affected by component tolerances, circumferential and radial movement such as rotation is restricted, and as a product, deviation of the elastic support portions 81 and 82 can be suppressed, achieving stable characteristics.

[0193] The coil holding portion 52 is housed in the housing 12 and fixed to the edges of the cover 14 and the bottom 134 with the movable range defining portions 54 of the upper and lower end surfaces contacting the edges of the cover 14 and the bottom 134 .

[0194] <Coil>

[0195] In the actuator 10 , the coils 61 , 62 move in the axial direction of the coils 61 , 62 (the exciting direction of the magnet 30 ) and are used together with the magnet 30 and the yokes 41 , 42 to generate a driving source for the actuator 10 .

[0196] Coils 61 and 62 generate magnetic fields by energizing based on the detection results of magnetic sensor 91, thereby moving movable body 20. Coils 61 and 62 are arranged radially outside movable body 20. Coils 61 and 62, together with magnet 30, form the same magnetic circuit as a voice coil motor.

[0197] Coils 61 and 62 are disposed on the coil mounting portions 52 b and 52 c . In the present embodiment, the coils 61 and 62 are disposed at positions facing the yokes 41 and 42 in a direction perpendicular to the reciprocating direction.

[0198] The coils 61 and 62 are held in the coil holding portion 52 so that the center position of the coil's axial length (reciprocating direction) is approximately the same position (including the same position) as the center position of the movable body 20's length in the reciprocating direction (including the center position of the magnet 30 in the reciprocating direction). Furthermore, the coils 61 and 62 of this embodiment are wound in opposite directions and configured so that current flows in opposite directions when energized. The coils 61 and 62 are secured within the concave coil mounting portions 52b and 52c by adhesive bonding or the like, and their outer circumferential surfaces are surrounded by an outer yoke 70 on the inner side of the housing 12.

[0199] The ends of coils 61 and 62 are tied to and connected to terminal portions 75 of central flange portion 526. Coils 61 and 62 are connected to an external power supply via terminal portions 75. For example, the ends of coils 61 and 62 may be connected to a DC power supply, which supplies DC power to coils 61 and 62. This generates thrust between coils 61 and 62 and the magnets, enabling them to move in one direction, toward and away from each other, in the axial direction.

[0200] Alternatively, the ends of the coils 61 and 62 may be connected to an AC power supply, and the AC power supply (AC voltage) may be supplied from the AC power supply to the coils 61 and 62. This allows the coils 61 and 62 to generate thrust between themselves and the magnets, which allows them to move toward and away from each other in the axial direction.

[0201] Outer yoke 70

[0202] The outer yoke 70 is a cylindrical magnetic body disposed around the outer circumference of the coil holding portion 52 and radially outwardly covering the coils 61 and 62. The outer yoke 70 prevents magnetic flux from leaking radially outward from the actuator 10 in the magnetic circuit.

[0203] The outer yoke 70 is arranged so that the center of its reciprocating length is at the same height as the center of the inner magnet 30. The shielding effect of the outer yoke 70 reduces magnetic flux leakage to the outside of the actuator.

[0204] Furthermore, outer yoke 70 increases the thrust constant in the magnetic circuit, improving electromagnetic conversion efficiency. Outer yoke 70 utilizes the magnetic attraction of magnet 30 and, together with magnet 30, functions as a magnetic spring. This magnetic spring reduces the stress in elastic supports 81 and 82 when they are mechanical springs, thereby improving the durability of elastic supports 81 and 82.

[0205] <Casing 12>

[0206] The housing 12 has: a bottomed cylindrical housing body 13 having a peripheral wall portion 132 and a bottom portion 134; and a cover portion 14 that blocks the opening portion 135 of the housing body 13. In addition, the housing 12 is columnar. A columnar shape is a shape having a height (thickness) that can generate sufficient thrust in the reciprocating direction by cooperating with the coils 61 and 62 that are opposed to each other on its outer periphery. For example, the housing 12 of the present embodiment is formed into a cylindrical shape by the bottomed cylindrical housing body 13 and the cover portion 14, but is not limited to this shape. It can also be an elliptical column or a polygonal column, and the length in the reciprocating direction can be longer or shorter than the length in the direction orthogonal to the reciprocating direction. In addition, the elliptical shape among the elliptical column and the elliptical shape in the present embodiment mainly refers to an ellipse that includes parallel straight-line portions, and is a small coin shape.

[0207] The cover 14 and the bottom 134 constitute the top surface 142 and the bottom surface (bottom 134 ) of the actuator 10 in this embodiment, and are arranged to face the movable body 20 of the unit 15 with a predetermined gap in the reciprocating direction of the movable body 20 .

[0208] The cover 14 has a protrusion 144 that protrudes radially outward from a portion of the outer periphery of the top surface 142 and engages with the notch 122 of the housing body 13. The protrusion 144 engages the cover 14 with the notch 122 of the housing body 13, positioning the cover 14 when attached to the housing body 13. The cover 14 and the bottom 134 each restrict the range of motion of the movable body 20. The cover 14 and the bottom 134 function as a range-of-motion restriction portion, acting as a hard stop (limiting the range of motion) for the movable body 20.

[0209] When the cover 14 is attached to the housing body 13, the protrusion 144 of the cover 14 is positioned within the cutout 122 of the housing body 13 over the terminal 75 exposed to the outside at the center of the cutout 122 in the longitudinal direction. Thus, the position of the terminal 75 of the actuator 10 can be grasped simply by looking down at the cover 14.

[0210] The housing body 13 is provided with a magnetic sensor 91 and a circuit board 92 .

[0211] The magnetic sensor 91 is mounted on the circuit board 92 , and detects a change in magnetic flux caused by the movement of the magnet 30 of the movable body 20 , thereby detecting the displacement of the movable body 20 .

[0212] <Magnetic sensor 91>

[0213] The magnetic sensor 91 is an example of an operation amount detection unit that detects the amount of movement in the moving direction of the movable body 20, which is moved by a user operation via the operation face 5. The magnetic sensor 91 detects the position of the movable body 20, which is moved by the user operation. The magnetic sensor 91 is provided separately from the movable body 20 in the moving direction of the movable body 20. The moving direction of the movable body 20 may be opposite to the direction in which the movable body 20 moves. In other words, the position of the magnetic sensor 91 may be in the same direction as or different from the moving direction of the movable body 20, as long as it is in the same direction.

[0214] The magnetic sensor 91 is preferably provided on the central axis extending in the reciprocating direction of the movable body 20 (at a position overlapping with the axis of the output shaft portion 25 ) or in the vicinity of the central axis.

[0215] The magnetic sensor 91 is mounted on the outer surface of the housing body 13 together with the circuit board 92 . The magnetic sensor 91 is arranged on the axis of the output shaft portion 25 of the movable body 20 .

[0216] Since the magnetic sensor 91 is provided on the outer surface of the housing 12 , it can be assembled outside the actuator 10 , thereby improving the assemblability of the actuator 10 .

[0217] Furthermore, the magnetic sensor 91 can be easily replaced or replaced without disassembling the actuator 10. Furthermore, the magnetic sensor 91 included in the actuator 10 can be easily inspected.

[0218] Magnetic sensor 91 preferably includes a Hall element. For example, compared to using only a Hall element, the magnetic sensor is preferably a Hall IC that compares the output of the Hall element with a threshold value and outputs a high / low level. Because the output voltage range of a Hall IC is determined by the power supply, the subsequent circuit (microcomputer) can be easily constructed.

[0219] Furthermore, since the output voltage range is determined by the power supply, a Hall sensor with a built-in amplifier, such as a linear Hall IC, can be used in the magnetic sensor 91. This eliminates the need for a separate sensor, amplifier, or dedicated converter such as an AD converter, allowing for the inexpensive and easy construction of peripheral circuits.

[0220] <Circuit Board (Control Unit) 92>

[0221] The circuit board 92 is equipped with a microcomputer, actuator driver, and other components, and includes a drive control unit that controls the actuator. Within the circuit board 92, the magnetic sensor 91 detects the operational load applied to the movable body 20 via the output shaft 25. Based on this detection result, the coils 61 and 62 are energized to control the movement of the movable body 20. The drive control unit may not be located within the actuator 10. The drive control unit controls the operation input device 1 and is controlled by the microcomputer 400, which controls all components of the operation input device 1.

[0222] Thus, the actuator 10 can detect the operation load and provide tactile feedback corresponding to the pressing operation. In particular, load detection can provide specialized detection of the pressing operation.

[0223] In this manner, in the actuator 10, the output shaft portion 25 receives the operational load, and tactile feedback is generated based on the operational load received by the output shaft portion 25, which can be presented as the operational feel of the user operating the operation surface 5. Therefore, even if the user's operation is an operation such as the tactile feel of a switch or a slider, a tactile feel that more accurately reproduces the tactile feel can be fed back and presented.

[0224] By using the magnetic sensor 91 , when configured as an actuator, a magnet that is originally required is used as a sensor, and thus an inexpensive movable body position detection mechanism can be provided.

[0225] As described above, since the actuator 10 includes the magnetic sensor 91 as a sensor for detecting the displacement of the movable body 20 , the actuator 10 can easily detect an operation and provide tactile feedback.

[0226] Furthermore, since housing 12 is made of a non-magnetic material, the lower surface of the housing where magnetic sensor 91 is provided is also non-magnetic. Magnetic sensor 91 can thus detect a stable magnetic flux density in the magnetic circuit having magnet 30 and accurately detect the position of movable body 20.

[0227] Furthermore, the exciting direction of the magnet 30 is parallel to the moving direction of the movable body 20. Thus, the magnetic sensor 91 detects the magnetic flux density of the distribution of a single magnetic pole, which can improve sensor detectability and provide stable sensor output.

[0228] Furthermore, movable body 20 is housed within coils 61 and 62 in an axially drivable state. This allows for a more efficient formation of a magnetic circuit capable of generating thrust. Furthermore, since the magnetic flux density toward bottom portion 134 increases, detection by magnetic sensor 91 disposed therein can be performed accurately and easily.

[0229] <Operation of Actuator 10>

[0230] Figure 11 It is a diagram for explaining the operation of the actuator according to the first embodiment of the present invention.

[0231] use Figure 11 The operation of the actuator 10 will be described by taking as an example a case where the magnet 30 is excited in such a manner that the surface 30a on one side of the excitation direction (the upper side in this embodiment) is the S pole and the back surface 30b on the other side of the excitation direction (the lower side in this embodiment) is the N pole.

[0232] In actuator 10, movable body 20 is considered to be equivalent to the mass portion in the vibration model of a spring-mass system. Therefore, if, for example, resonance is sharp (having a steep peak), the steep peak can be suppressed by damping the reciprocating motion. By damping the vibration, the resonance becomes less steep. For example, the maximum amplitude value and maximum movement amount of movable body 20 during resonance do not vary, and vibration output based on an appropriate and stable maximum movement amount is achieved.

[0233] A magnetic flux flow mf is formed. This magnetic flux flow mf is emitted from the back surface 30 b side of the magnet 30 , radiates from the yoke 42 toward the coil 62 side, passes through the outer yoke 70 , and enters the magnet 30 from the yoke 41 on the upper side of the magnet 30 via the coil 61 .

[0234] Therefore, if Figure 11 When current is supplied as shown, the magnetic field of the magnet 30 and the current flowing through the coils 61 and 62 interact with each other, thereby generating a Lorentz force in the −f direction on the coils 61 and 62 according to Fleming's left-hand rule.

[0235] The -f-direction Lorentz force is perpendicular to the direction of the magnetic field and the direction of the current flowing through coils 61 and 62. Since coils 61 and 62 are fixed to fixed body 50 (coil holding portion 52), according to the law of action and reaction, a force opposing the -f-direction Lorentz force is generated as a thrust in the f-direction on movable body 20 having magnet 30. As a result, movable body 20 having magnet 30 moves laterally in the f-direction, that is, toward bottom portion (bottom surface of housing body 13) 134.

[0236] On the other hand, if the current flow direction of coils 61 and 62 is reversed and coils 61 and 62 are energized, a Lorentz force in the opposite direction, f, is generated. Due to the generation of this f-direction Lorentz force, according to the law of action and reaction, a force opposite to the f-direction Lorentz force is generated on movable body 20 as a thrust (thrust in the -f direction), causing movable body 20 to move in the -f direction, i.e., toward the top surface of cover portion 14 of fixed body 50.

[0237] In the actuator 10 , by moving the movable body 20 only toward the cover 14 or the bottom 134 , so as to provide the operator with so-called tactile or force feedback (also referred to as force feedback) via the output shaft 25 in response to the user's operation.

[0238] Furthermore, current can be alternately supplied to the coils 61 and 62 in opposite directions to cause them to reciprocate or vibrate, and the movable body 20 can be operated by an operator's operation using the current.

[0239] Furthermore, in the actuator 10, when not powered and not in operation (not vibrating), the magnetic attraction force between the magnet 30 and the outer yoke 70 functions as an operating magnetic spring. The magnetic attraction force generated between the magnet 30 and the outer yoke 70 and the restoring force that tends to restore the elastic support portions 81 and 82 to their original shapes return the movable body 20 to its original position.

[0240] The actuator 10 includes a fixed body 50 having coils 61 and 62, and a movable body 20 disposed radially inward of the coils 61 and 62 and having a magnet 30 magnetized in the axial direction of the coils 61 and 62. The actuator 10 also includes flat elastic support portions 81 and 82 that elastically hold the movable body 20 movably in the axial direction of the coils.

[0241] The coils 61 and 62 are arranged on the outer periphery of the holding portion main body 522 of the coil holding portion 52 . The outer peripheral surface 20 a of the movable body 20 is arranged at a distance on the inner peripheral side of the holding portion main body 522 . The outer peripheral surfaces of the coils 61 and 62 are surrounded by the outer yoke 70 .

[0242] This prevents radially outward leakage of magnetic flux in actuator 10, and allows outer yoke 70, magnet 30, yokes 41 and 42, and coils 61 and 62 to function as a magnetic circuit, thereby enhancing the generation of magnetic thrust. Furthermore, this does not affect the detection of magnetic flux density by magnetic sensor 91 on the bottom surface.

[0243] like Figure 11As shown, when the movable body 20 moves toward the cover 14 and upward (arrow “moving direction”), the magnet 30 moves away from the magnetic sensor 91 , so that the leakage magnetic flux detected by the magnetic sensor 91 becomes weaker in the lower part of the housing 12 .

[0244] Furthermore, when movable body 20 moves toward bottom portion 134 (arrow "moving direction downward"), magnet 30 approaches magnetic sensor 91, and the leakage magnetic flux detected by magnetic sensor 91 increases. Thus, magnetic sensor 91 can detect the magnetic flux density corresponding to the movement of movable body 20. Based on this detection result, a tactile sensation such as movement, vibration, or impact can be directly imparted via output shaft portion 25.

[0245] Figure 12A as well as Figure 12B is a diagram for explaining sensing by a magnetic sensor. Figure 12A is a diagram showing the relationship between the magnetic flux density detected by the magnetic sensor and the displacement of the magnet. Figure 12B Is to express Figure 12A Schematic diagram of the actual movement of the movable body corresponding to the detection.

[0246] like Figure 12A as well as Figure 12B As shown, if movable body 20, which is structured so as to sandwich magnet 30 between yokes 41 and 42, moves in direction D1, that is, toward lid 14, movable body 20 moves away from magnetic sensor 91, and the magnetic flux density decreases. On the other hand, if movable body 20 moves in direction D2, that is, toward bottom portion 134, and in this case, toward magnetic sensor 91 disposed at the bottom, the detected magnetic flux density increases.

[0247] In this manner, the magnetic sensor 91 can linearly detect the relationship between the magnetic flux density and the displacement of the movable body, and based on this detection, the position of the movable body 20 can be appropriately detected.

[0248] In actuator 10, the unit 15 is housed within housing 12, allowing the outer peripheral surface of peripheral wall portion 132 of resin housing 12 to be smooth. This allows for reliable and easy attachment of a cushioning material such as sponge to the mounting location when actuator 10 is mounted on an electronic device.

[0249] Furthermore, since the actuator 10 is configured by arranging the unit 15 in the housing 12 , the elastic support portions 81 and 82 , which require high dimensional accuracy, can be fixed by assembling them to the coil holding portion 52 .

[0250] Thus, the arrangement of the fixed movable body 20, including the elastic support portions 81 and 82, can be determined based on the coil holding portion 52, thereby improving the accuracy of the tactile sensation generated in the product. Specifically, for example, simply by improving the dimensional accuracy of the coil holding portion 52, which is formed as a single component from resin or the like, the coils 61 and 62 can be easily positioned with the movable body 20 (magnet 30) attached via the elastic support portions 81 and 82 in an accurate positional relationship.

[0251] Furthermore, the coil holding portion 52 is provided with the terminal portion 75 so as to protrude outward, thereby facilitating bundling and welding of the coil wires, and enabling easy connection between the coils 61 and 62 and an external device.

[0252] As described above, according to the actuator 10 , it is possible to provide a tactile sensation while having impact resistance.

[0253] Actuator 10 is driven by pulses (DC pulses or AC pulses) input to coils 61 and 62. Specifically, the direction of current flow to coils 61 and 62 can be appropriately set to alternately apply a thrust in the -f direction from the top surface 142 of cover 14, a thrust in the f direction from the bottom 134, or both the -f and f directions to movable body 20. This allows movable body 20 to move in either the moving or vibrating direction, providing force feedback via actuator 10 itself or output shaft 25.

[0254] As described above, the actuator 10 can be easily manufactured at low cost and has a detection function and a tactile feedback function that are easier to use.

[0255] <Driving Principle of Actuator 10>

[0256] The driving principle of the actuator 10 will be briefly described. The actuator 10 is driven by pulses supplied based on the following equation of motion (1) and circuit equation (2). In this embodiment, the actuator is driven by inputting short pulses, but it is also possible to drive the actuator 10 in a manner that generates arbitrary reciprocating motion or vibration without using short pulses.

[0257] Furthermore, the movable body 20 in the actuator 10 performs reciprocating motion based on equations (1) and (2).

[0258] [Mathematical formula 1]

[0259]

[0260] M: mass [kg]

[0261] X(t): displacement [m]

[0262] K f :Thrust constant [N / A]

[0263] i(t): current [A]

[0264] K sp : Spring constant [N / m]

[0265] D: Attenuation coefficient [N / m / s]

[0266] [Mathematical formula 2]

[0267]

[0268] e(t): voltage [v]

[0269] R: resistance [R]

[0270] L: Inductance [H]

[0271] Ke: Back electromotive force constant [V / (m / s)]

[0272] The mass m [Kg], displacement x(t) [m], thrust constant K in the actuator 10 f [N / A], current i(t) [A], spring constant K sp [N / m], attenuation coefficient D [N / (m / s)], etc. can be appropriately changed within the range that satisfies equation (1). Furthermore, voltage e(t) [V], resistance R [Ω], inductance L [H], and back electromotive force constant Ke [V / (m / s)] can be appropriately changed within the range that satisfies equation (2).

[0273] In this way, the actuator 10 is determined by the mass m of the movable body 20 and the spring constant K sp of the metal springs (elastic bodies, leaf springs in this embodiment) serving as the elastic support portions 81 and 82 .

[0274] <Actuator Function 10 (10-1, 10-2, 10-3)>

[0275] The actuator 10 ( 10 - 1 , 10 - 2 , 10 - 3 ) configured in this manner has the following functions by driving the movable body 20 .

[0276] The movable body 20 is driven to impart vibration stimulation or direct stimulation to the user who operates the operation face, thereby imparting a tactile sensation that directly acts on the force sense.

[0277] Furthermore, the movable body 20 is driven to apply a load to the user operating the operation surface 5 via the operation surface 5 that supplements or compensates for the load (operation load) generated by the user's pressing operation on the movable body 20. Furthermore, a load is applied in the direction opposite to the load to reduce the load applied to the user. This provides the user operating the operation surface 5 with a tactile feel, such as the hardness or softness of the operation portion (operation surface), as an operational feel.

[0278] By driving the movable body 20, vibrations corresponding to the position where the operating face 5 is pressed are repeatedly output in stages to provide the user with tactile prompts, thereby providing the user with a change in the selected function under multi-level tactile sensations as an operational feeling.

[0279] Furthermore, the operation of the operation surface 5 can be facilitated by preventing the operation surface 5 from protruding from the surface 4b. Specifically, the operation surface of the operation input device 1 is designed without any unevenness to prompt the user to operate the operation portion, i.e., a so-called non-signaling design, making it difficult to visually recognize the operation surface.

[0280] In the operation input device 1 having such an operation surface, the position of the operation surface 5, that is, the operation position, is suggested by the movement of the operation surface 5, which is the operation part itself integrated with the movable body 20 of the actuator 10, so as to suggest the position of the operation part or induce the position.

[0281] Furthermore, the operation input device 1 can perform an active HMI (Human Machine Interface)-like operation for the user by operating the operation face portion 5 , which is the operation portion itself integrated with the movable body 20 of the actuator 10 .

[0282] Furthermore, in this embodiment, the operating portion, which is configured to be freely movable in a direction protruding from the operating surface, does not utilize a power transmission mechanism in conjunction with an actuator (motor), but rather consists solely of the actuator 10. This simplifies the structure and facilitates assembly of the operation input device 1. Furthermore, the operating portion can be actuated solely by the actuator, without utilizing multiple power transmission components constituting a power transmission mechanism, enabling highly precise actuation of the operating surface.

[0283] Figure 13 This is a diagram schematically showing the main configuration of the operation input device according to the first embodiment of the present invention.

[0284] Figure 13The illustrated operation input device 1 includes a plurality of actuators 10 ( 10 - 1 , 10 - 2 , 10 - 3 ) and an AD converter 402 . The operation input device 1 also includes a microcomputer 400 as a control unit for controlling the actuators 10 , an actuator driver 430 , and a proximity sensor 404 .

[0285] As described above, the magnetic sensor 91 included in the actuator 10 functions to detect the load applied to the movable body via the operation surface 5 , and also functions as feedback for controlling the position of the movable body 20 .

[0286] When the operation surface 5 is operated, an operation load is applied to the actuator 10, and the operation load is detected by the magnetic sensor 91 based on the change in magnetic flux density. The detected operation load is output to the microcomputer 400 as the control unit via the AD converter 402.

[0287] The proximity sensor 404 detects the presence or absence of an object approaching the operating face 5 and outputs the detection result to the microcomputer 400 serving as the control unit.

[0288] The proximity sensor 404 may be any sensor that detects the approach, separation, or state of an object in a non-contact manner. For example, the proximity sensor 404 may be an electromagnetic induction (high-frequency oscillation) proximity sensor, an electrostatic capacitance proximity sensor, a magnetic proximity sensor, an optical ToF (Time-of-Flight) sensor, or an ultrasonic ToF sensor.

[0289] The proximity sensor 404 is a capacitance sensor that detects changes in capacitance or electrical changes caused by an object approaching or moving away from the operation face 5 , and outputs the detection result (detection value) to the microcomputer 400 via the AD converter 402 .

[0290] The proximity sensor 404 is arranged at a position where it can detect the approach of an object approaching the operation face 5, such as a finger of a user operating the operation face 5. Figure 1 As shown, in the surface of the device housing 2 (the surface 4b of the cover 4), the configuration area 403 around the opening 4a can be configured in any number as long as the number of the configuration areas 403 corresponds to the number of the operation surface 5 in the opening 4a. Figure 13 As shown in the proximity sensor 406, for example, proximity sensors may be provided at a plurality of locations, and the proximity sensor may include an oscillation circuit incorporating detection electrodes that generate an electric field and a detection circuit that detects changes in the oscillation frequency of the oscillation circuit.

[0291] Based on the input information, the microcomputer (control unit) 400 drives the actuator 10 via the actuator driver 430. The microcomputer may be equipped with edge AI, or the operation input device 1 itself may be used to cause multiple actuators to perform various operations based on the input information.

[0292] Based on information such as object detection information from the proximity sensor 404, the position of the movable body 20 from the magnetic sensor 91, and information about the load applied to the movable body 20, the microcomputer 400 drives the actuator 10 via the actuator driver to move the operating face 5. For example, by driving the actuator 10, the microcomputer 400 presents the user with the tactile feel of the operating face 5 (hardness, softness, for example, a tingling sensation), the click feel of multi-level operation, and the position of the operating face, as described above. Furthermore, the microcomputer 400 digitally converts the analog voltage from the proximity sensor 404 using, for example, an ADC (analog-to-digital conversion circuit), determines the position indicated by this information, and selects and generates a drive pattern based on this position. The microcomputer 400 outputs instructions and drive signals for driving in the selected and generated drive pattern to the circuit board (control unit) 92 and the actuator driver 430, causing the movable body 20 to move.

[0293] The microcomputer 400 can drive the actuator and perform active suggestive expression and sensory expression based on the information from the proximity sensor 404 and the magnetic sensor 91, that is, based on the information indicating the user's situation, by observing, recognizing, and judging the information.

[0294] Here, in the operation input device 1 , driving of the actuator 10 based on the detection information of the object from the proximity sensor 404 will be described.

[0295] For example, when the user moves his finger close to the operation face 5 in order to operate using the operation face 5 , the actuator 10 is protruded or retracted, thereby facilitating the user to operate via the operation face 5 .

[0296] The microcomputer 400 may have a plurality of drive modes for the actuator 10 based on the detection information from the proximity sensor 404 .

[0297] Specifically, when the operation surface 5 is flush with the surface 4b of the housing 2 (cover 4), if a user's finger approaches as an object, the operation surface 5 is protruded, as if it were an object approaching to operate the operation surface 5, and its position is confirmed. For example, if the user's finger (object) approaches the operation surface 5, the operation input device 1 may cause the entire operation surface 5 to protrude. Alternatively, the operation input device 1 may drive an actuator proximate to the proximity sensor 404 that detects the proximity of an object, causing the operation surface 5 closest to the finger to protrude, confirming its position, and enabling operation.

[0298] Furthermore, the microcomputer 400 has a plurality of operation modes for driving the actuator 10 in accordance with the finger operation on the operation surface 5 when the user operates the operation surface 5 with a finger.

[0299] Specifically, the microcomputer 400 drives the actuator 10 via the actuator driver 430 to output vibration, force, and displacement, thereby directly providing an operational feeling to the user via the operating unit.

[0300] The microcomputer 400 can feed back the load detected by the magnetic sensor 91 , that is, the tactile sensation corresponding to the load input to the actuator 10 , to the user who operates the operation surface 5 of the actuator 10 .

[0301] The microcomputer 400 drives the actuator 10 in various motion patterns, thereby applying vibrations when the user presses or releases the operation surface 5, and further applying different vibrations when the operation surface 5 is pushed in. These actions are also called vibration feedback, and different vibrations can be applied to each operation surface 5-1 or 5-2.

[0302] Figure 14 This is a diagram schematically showing a main configuration of a modified example of the operation input device 1 without a proximity sensor.

[0303] Figure 14 The operation input device 100 is in Figure 13 The illustrated structure of the operation input device 1 does not include a proximity sensor 404. Regardless of the presence or absence of a proximity sensor, the operation input device 100, like the operation input device 1, drives the operating portion in an action pattern corresponding to a user's push operation. Similar to the operation input device 1, the microcomputer 400 of the operation input device 100 uses the magnetic sensor 91 to detect the user's pressing of the operating face 5 (a push operation) and drives the movable body 20 in an action pattern corresponding to the operation, thereby imparting a tactile sensation corresponding to the push operation as an operational feel.

[0304] The operation input device 1, 100 (specifically, the microcomputer 400) supplies current according to the stroke of the movable body 20 detected by the magnetic sensor 91 such as the Hall sensor, drives the movable body 20, and controls the reaction force or thrust against the movable body 20 (operation face 5).

[0305] Figure 15 This is a diagram showing an example of the motion control of the actuator, and is an F-S curve showing the relationship between the displacement [mm] of the movable body of the actuator and the load [N] of the movable body. Figure 15 , an example of the tactile feeling of the proportional current input (graphs L1 to L5 ) corresponding to the FS curve is shown.

[0306] The actuator 10 is for example designed to meet the requirements of Figure 15 The relationship between the input currents shown is set so as to impart a reaction force (or thrust) to the movable body 20 (the pushed operating surface 5), causing it to displace. For example, if graph L1 represents the input current for a normal tactile sensation, then based on this, the actuator 10 is controlled to be driven in a manner that produces graphs L2 and L3, imparting a reaction force opposite to the direction of the operation (gain adjustment). Alternatively, if the graphs L4 and L5 are used, the actuator is driven to impart a thrust that follows the direction of the operation. This allows the actuator 10 to impart a firm tactile sensation to the user, as indicated by graphs L4 and L5. The microcomputer 400 varies the current according to the amount of operation (stroke) to satisfy the relationships shown in graphs L1 to L5, thereby varying the hardness or softness of the operating surface (operating portion) 5, which imparts the tactile sensation. In other words, by supplying a current that varies according to the amount of user operation, the actuator 10 can operate the movable body 20 and alter the hardness or softness of the tactile sensation imparted to the user.

[0307] By applying the thrust in this manner, for example, the actuators 10 ( 10 - 1 to 10 - 3 ) connected to the operation surfaces 5 - 1 to 5 - 3 are driven, thereby providing a tactile sensation to the user.

[0308] FIG. 16 is a diagram showing an example of an operation pattern of an actuator, and more specifically, a diagram showing an overview of a tactile sensation expressed by the operation of the actuator when the user operates the operation face. Figure 16A The stroke of the movable body 20 corresponding to the amount of pushing of the button from the top position Z0 to returning to the initial position 0 is shown. Figure 16B Indicates the basis and the Figure 16A The relationship between the force (here, reaction force: Force) generated by the stroke (Stroke) corresponding to the pushing amount of the actuator and the action pattern of the actuator. Figure 16C Represents Figure 16B The relationship between the stroke and the input current corresponding to the reaction force is shown.

[0309] Figure 16 shows two operating modes where the input current height varies depending on the length of the strokes k1 and k2. The dotted-line mode exhibits a deeper tactile sensation than the solid-line mode, indicating a low click rate. The click rate is an indicator of switch buckling. It is calculated using the point at which the switch buckles and the reaction force at which the reaction force reaches its minimum when pushed further. This indicates the degree of force applied to the user during buckling.

[0310] As shown in FIG. 16 , the actuator 10 varies the bias current (input current) supplied to the coil according to the amount of push (operation amount) of the movable body 20 caused by the user pressing the operation face 5 .

[0311] For example, the actuator 10 applies a reaction force or thrust to the movable body 20 based on the amount of displacement of the movable body 20, using a supplied bias current. Furthermore, the actuator 10 controls the drive of the movable body 20 by reducing the supplied bias current or reversing the bias current when the bias current exceeds a threshold. Specifically, the actuator 10 can variably set the bias current based on the amount of manipulation of the manipulation surface 5, making it possible to adjust the operational feel when manipulating the manipulation surface 5 to suit the user's preferences.

[0312] In this way, actuator 10 adjusts the bias current according to the user's operation amount, thereby operating movable body 20 and applying a reaction force to the movable body. When the current exceeds a threshold, the current is reduced or the current flows in the opposite direction, which can produce a buckling sensation for the user. Thus, the operation input device 1 can adjust the current supplied to coils 61 and 62, changing the hardness, softness, buckling, and other aspects of the operational feel, thereby providing a more superior operational feel.

[0313] FIG. 17 is a diagram showing an example of an operation pattern of the operation input device 1 , specifically, a diagram showing an example of a waveform for expressing an explanation of a switching operation in the operation control of the actuator. Figure 17A This is a graph showing the relationship between the force (Force) corresponding to the stroke (Stroke) of the movable body 20 being pushed in, and is the so-called F-S curve. The F-S curve shows the working force, reaction force, click rate, etc. of the operating surface (movable body) that determines the tactile feel of the switch. In addition, Figure 17B This represents the relationship between the stroke of the pushed movable body 20 and the tactile sensation (specifically, the input current when an upward force (a reaction force that becomes a reaction force) is applied, that is, FFB (force feedback). Furthermore, the click rate can be said to be the ratio of the working force acting on the pushing finger to the pushing force.

[0314] exist Figure 17A as well as Figure 17B In the embodiment of the present invention, when the operation surface 5 is pushed, the operation surface 5 moves downward (stroke) while receiving the reaction force of the elastic support parts 81 and 82. In other words, when the user presses the operation surface 5, they only receive the reaction force (force opposite to the pushing direction) of the elastic support parts (e.g., leaf springs) 81 and 82 as a tactile sensation.

[0315] Next, when the user pushes the operating surface 5 while receiving the reaction force from the elastic support parts 81 and 82, causing the operating surface 5 to reach a predetermined stroke position, the microcomputer 400 turns on a positive current and begins supplying power to the actuator 10 (coil). This increases the reaction force to the user's pushing force, giving the user the tactile sensation of pressing a button.

[0316] In this way, the microcomputer 400 changes the current according to the operation amount (stroke), applies a force to the operation surface 5 while increasing the force (reaction force: gain adjustment), and reduces the current ("+ current off") or even flows in the reverse direction (at the stage where the set value (threshold) k11 is exceeded. Figure 17B The switch input can be recognized as a tactile sensation by the tactile sensation of buckling.

[0317] FIG18 is a diagram showing an example of an operation pattern when a switch is expressed in the operation control of the actuator, and is used to explain the switch expression based on the switch expression of FIG17. Figure 18A 、 Figure 18C 、 Figure 18E The vertical axis corresponds to the load, and the horizontal axis corresponds to the amount of movement in the "F-S curve". Figure 18A 、 18B This chart shows the relationship between force (reaction force or thrust: Force [N]), push distance (stroke [mm]), and input current (Current) for a switch exhibiting a low click rate. Figure 18C 、 Figure 18D Indicates the relationship between the force (reaction force or thrust: Force [N]) and the push amount, and the input current (Current) and the push amount (stroke [mm]) in the case of a switch with a high click rate. Figure 18E 、 Figure 18F The relationship between the pushing force and the pushing amount, and the input current and the pushing amount, when expressing a two-step click is shown. Thus, when the switch expresses a low click rate compared to when it expresses a high click rate, the actuator 10 is controlled so that the pushing depth is imparted as a tactile sensation.

[0318] exist Figure 18E 、 Figure 18FIn this example, the upward reaction force is generated at two predetermined locations during the stroke, reducing or interrupting the positive current and allowing the negative current to flow, thereby increasing the thrust. This increased thrust is then converted to a reaction force at the predetermined pushed-in position, providing a double tactile sensation and achieving a two-stage switch feel. While two stages are used here, the pushed movable body 20 can also be controlled to generate reaction and thrust forces at multiple set positions, providing three or more stages of tactile sensation, thus achieving a multi-stage switch performance.

[0319] In this manner, the actuator 10 operates the movable body 20 in multiple stages in the moving direction according to the operation amount of the movable body 20 based on the user's operation, thereby providing the user with an operational feeling.

[0320] The switches in FIG18 perform the same actions as those in FIG17 . When the movable body 20 reaches a predetermined stroke (set value), the current is disconnected or a reaction force (force adjusted by gain) is generated, thereby appropriately producing a click feeling or a switch feeling.

[0321] Such as these Figure 15~1 As shown in FIG8 , the operation input device 1 (specifically, the microcomputer 400 ) drives the actuator 10 and is expressed as a switch that generates vibration feedback or force feedback.

[0322] <An example of an operation using an operation mode: Vibration feedback (FB)>

[0323] Figure 19 1 is a flowchart showing an example of an operation mode of an operation input device, showing control of an operation of providing vibration feedback to a user according to an operation.

[0324] like Figure 19 As shown, in step S11, when the circuit power is turned on, the proximity sensor 404, magnetic sensor 91, and other sensors are reset to zero. Next, in step S13, the microcomputer 400 monitors the pressing of a button via the magnetic sensor 91. If the button is pressed, in step S15, the microcomputer 400 detects the position information of the movable body 20 via the magnetic sensor 91. Specifically, in step S15, the microcomputer 400 detects the pressed state (pushed position) of the movable body 20, that is, the position of the operated button (operation surface 5), by detecting the position of the movable body 20 using the magnetic sensor 91.

[0325] Next, in step S17, the microcomputer 400 determines whether the position (stroke) of the movable body 20 has reached a set threshold (depth from the starting position of the push). In step S17, the microcomputer 400 determines whether the displacement of the operating surface 5 (the displacement of the movable body 20 due to the push) has reached a predetermined amount (predetermined length of movement). Furthermore, during this determination in step S17, a threshold is set that includes a dead zone to prevent malfunctions such as vibration without reaching the predetermined position. Furthermore, the threshold is set to provide an operational feel that is appropriate for producing a tactile sensation.

[0326] In step S17, if the position of the movable body 20 displaced by the operation reaches the predetermined position, that is, if the operation surface 5 is pressed by a predetermined length, the process proceeds to step S19. In step S19, the microcomputer 400 drives the actuator 10 via the actuator driver 430 to perform a predetermined action (for example, to generate a predetermined signal such as Figure 15 to Figure 1 The switch shown in 7 exhibits the vibration set as above).

[0327] Next, in step S21, the microcomputer 400 determines whether the button (operation face 5) has been operated via the magnetic sensor 91. If no operation has been performed (if the button has been "released"), the process proceeds to step S23. In step S23, the microcomputer 400 detects the position where the button is no longer pushed in (the "released" position of the button), and the process proceeds to step S25.

[0328] On the other hand, if the button is pushed in step S21 , the process proceeds to step S24 , where the microcomputer 400 detects the position of the movable body 20 , that is, the pushed position of the operation surface 5 , using the magnetic sensor 91 , and then proceeds to step S33 .

[0329] In step S33, the microcomputer 400 determines whether the button's pushed position is at or above the set threshold. If the microcomputer 400 determines in step S33 that the button's pushed position is at or above the set threshold, the microcomputer 400 generates an action pattern, such as vibration, in step S35. If the button's pushed position is not at or above the set threshold, the microcomputer 400 returns to step S21 and repeats the process.

[0330] In step S25 , the microcomputer 400 determines whether the position where the button disappears after being pushed has reached a set threshold. If so, the process proceeds to step S27 . If not, the process returns to step S21 and repeats the process.

[0331] That is, in step S25, if the button operation is released, and if the push amount at the time of release reaches the set push amount (threshold), the process proceeds to step S27. In step S27, the microcomputer 400 generates vibration using the set vibration generating mode, and the finger receiving the vibration as the tactile sensation releases the button (step S29).

[0332] In this manner, when the user pushes the operation surface 5 to perform an operation, the microcomputer 400 , that is, the operation input device 1 , feeds back vibration corresponding to the operation to the user.

[0333] <An example of an action using the action mode: Force Feedback (FFB)>

[0334] Figure 20 This is a flowchart showing an example of an operation mode using the operation input device, and more specifically, shows the processing of a force feedback operation as an example of a process of providing a tactile sensation to assist the user's operation on the operation surface 5 .

[0335] like Figure 20 As shown, in step S41, when the circuit power is turned on, the proximity sensor 404, magnetic sensor 91, and other sensors are reset to zero. Next, in step S43, the microcomputer 400 monitors the pressing of a button via the magnetic sensor 91. If the button is pressed, in step S45, the microcomputer 400 detects the position information of the movable body 20 via the magnetic sensor 91. Specifically, in step S45, the microcomputer 400 detects the position of the movable body 20 using the magnetic sensor 91, thereby detecting the state of the movable body 20 being operated, that is, the pressed state (pushed position) of the operating face 5.

[0336] Next, in step S47, the microcomputer 400 determines whether the position of the movable body 20 has reached the predetermined position, that is, whether the detected position has reached a set position (threshold value). Specifically, in step S47, the microcomputer 400 determines whether the displacement of the operating face 5 (the displacement of the movable body 20 caused by the actual pressing) has reached a predetermined amount (the predetermined length of movement). In step S47, if the position of the movable body 20 has reached the predetermined position, that is, if the operating face 5 has been pressed by the predetermined length, the process proceeds to step S49. The threshold value in step S47 is the same as that in step S17 and is set to include a dead zone to prevent malfunctions such as vibration without reaching the predetermined position.

[0337] In step S49 , the microcomputer 400 calculates the driving voltage of the actuator 10 , that is, sets the driving force for the operation of the actuator (specifically, assist or brake in response to the user's operation), and then proceeds to step S51 .

[0338] In step S51, the microcomputer 400 drives the actuator via the actuator driver 430 to generate a driving force such as assist (thrust) or braking (reaction force). This causes the movable body 20 to move, imparting a tactile sensation that stimulates the user's force sense via the operation face 5, and the process returns to step S45 to repeat.

[0339] In step S47 , if the position (displacement) of the movable body 20 does not reach the set threshold value, the process proceeds to step S53 , where the microcomputer 400 stops the actuator 10 from generating the driving force, and the process proceeds to step S55 .

[0340] In step S55 , the microcomputer 400 detects whether the user's finger has left the button based on the input information from the magnetic sensor 91 . If not, the process returns to step S45 and repeats the process. If not, the process ends.

[0341] Motion control in an example of an action mode: A single-stage switch with a transform function.

[0342] Figure 21 This is a flowchart illustrating an example of an operation mode of the operation input device using the first embodiment of the present invention. Specifically, it illustrates the operation process for providing a primary tactile switch representation with a deformation function. Hereinafter, the operation surface 5 serving as the operation portion of the operation input device 1 will also be referred to as a button, and the portion having the operation surface 5 will also be referred to as a switch.

[0343] exist Figure 21 In step S61 shown, first, when the circuit power is turned on, the operation input device 1 is driven, and the proximity sensor 404 and the magnetic sensor 91 are reset to zero. FIG22 shows an example of the operation input device 1 in this state. Figure 22A as well as Figure 22B This is a diagram showing an example of the operation of the operation input device according to the first embodiment of the present invention.

[0344] like Figure 22A As shown, in order to operate the operation surface 5 (5-1) of the switch portion of the operation input device 1, the user's finger approaches the operation surface 5. Then, in step S63, the proximity sensor 404 detects the approach of the finger to the switch and outputs the detection information to the microcomputer 400 (refer to Figure 13 In step S63, the microcomputer 400 (refer to Figure 13 ) detects the approach of the finger via the proximity sensor 404 and transfers to step S65.

[0345] In step S65, the microcomputer 400 drives the actuator 10 to displace the operating surface 5 (the movable body 20 as well). That is, the operating surface 5 (the movable body 20 as well) is displaced to indicate an operation to the operating surface 5 itself, for example, to move the operating surface 5 upward to protrude, that is, to a hovering state ("hover on") (see FIG. Figure 22B Thus, in the switch having the operating face 5, the operating face 5 itself protrudes from the surface 4b and is displaced (deformed), thereby presenting the operating position of the operating face 5 to the user or facilitating an operation using the operating face 5.

[0346] Furthermore, the microcomputer 400 places the operation surface 5 in a state in which user operations are possible. The operation surface 5 being placed in a state in which user operations are possible means that the microcomputer 400 can operate the actuator 10 in a plurality of operation modes in order to provide a tactile sensation corresponding to an operation on the operation surface 5 directly connected to the actuator 10.

[0347] Figure 22B In other words, when the user's finger approaches the operation face 5, the operation face 5, which serves as the operating unit of the operation input device 1, rises completely. This makes the operation face 5 easy to see and operate. The displacement or movement of the operation face 5 allows the user to see and confirm the position of the operation face 5, and facilitates operation of the operation face 5.

[0348] In addition, in this embodiment, the microcomputer 400 is configured to drive the actuator 10 ( Figure 10 -1, 10-2, 10-3), such as Figure 22B As shown, the operation surface 5 is raised, that is, illuminated when it is hovering.

[0349] Specifically, light-emitting devices such as LEDs are provided on or near the operation surface 5. These light-emitting devices are driven and controlled by the microcomputer 400 so as to emit light in response to the movement of the movable body 20. Thus, the light emission allows the position of the operation surface 5 or the operation being performed to be visually confirmed, and can encourage the user to operate using the operation surface 5. Furthermore, each time the operation surfaces 5-1, 5-2, and 5-3 are pressed, they can be switched on and off as switches, and in this case, the light-emitting devices can also be controlled to light up and off.

[0350] And, as Figure 22CAs shown, when the user presses the operation face 5 (5-1) that is in a hovering state, in step S67, the magnetic sensor 91 detects the position of the movable body 20 based on the operation of the operation face 5. That is, in step S67, the magnetic sensor 91 detects the displacement of the movable body 20, that is, the load applied to the movable body 20 by the pushing action of the button (operation face 5), and transmits the detected information to the microcomputer 400.

[0351] In step S69, microcomputer 400 determines whether the numerical value corresponding to the position of movable body 20 has reached a set threshold value corresponding to the set position. This process is repeated until the set threshold value is reached. If the set threshold value is reached, the process proceeds to step S71. Furthermore, this set threshold value includes a dead zone, and since the threshold value is the value after removing the dead zone, it is set higher than the correct, regular set value.

[0352] In step S71, as a switch operation, the microcomputer 400 not only provides the tactile sensation of pressing in the pressing direction when the operating surface 5 is pressed, but also provides the tactile sensation of further pressing. In other words, in step S71, the microcomputer 400 does not apply a force in the opposite direction of the user's pressing to the movable body 20 via the actuator 10, but instead operates to provide a tactile sensation that follows the user's operation ("following actuator drive off").

[0353] Next, in step S73 , the microcomputer 400 detects the release of the pressed state of the operation surface 5 serving as a button via the magnetic sensor 91 . In step S75 , the microcomputer 400 obtains the released position via the magnetic sensor 91 and proceeds to step S77 .

[0354] In step S77, the microcomputer 400 determines whether the value indicating the button release position (more specifically, the pressed state release) is below a set threshold value. If so, the process proceeds to step S79. If not, the process returns to step S75 and repeats the process.

[0355] In step S79, the microcomputer 400 drives the actuator 10 with a predetermined motion, and imparts this motion to the user's finger via the operation surface 5, which functions as a button. The predetermined motion in step S79, for example, applies force feedback drive ("actuator drive on / gain adjustment"), that is, a load in the opposite direction to the pressing force (gain adjustment), to the operation surface 5, thereby moving the operation surface 5.

[0356] Thus, when the user stops pressing the button or releases the finger from the button, a tactile sensation is imparted as if the button has been released from the pressed state. Next, in step S81, the microcomputer 400 detects, based on the detection information input from the magnetic sensor 91 and the proximity sensor 404, that the finger has been released from the button (operation surface 5) but is located near the operation input device 1 (operation surface 5).

[0357] Next, in step S83, if the microcomputer 400 detects the finger has been released via the proximity sensor 404, the process proceeds to step S85. In step S85, the microcomputer 400 drives the actuator via the actuator driver 430 to disengage the hovering state, that is, to release the protruding state of the operation surface 5. This causes the surface 4b of the housing 2 of the operation input device 1 to become flat.

[0358] Thus, in the operation input device 1 of this embodiment, for example, when the operation surface 5 serving as the operation portion is used as a switch, the user can move the operation surface 5 itself to confirm its position when the user wishes to operate the operation surface 5 in a seamless design. Furthermore, the user can be facilitated in operating by making the operation surface 5 itself movable.

[0359] When the operation surface 5 is operated, the actuator 10 is driven in various set motion patterns to drive the movable body 20 (vibrate, displace), and the tactile sensation corresponding to the operation can be expressed and imparted by the hand.

[0360] An example of an action using action patterns: Multi-stage switch expression with a transform function.

[0361] Figure 23 This is a flowchart showing an example of the operation of the actuator, and shows a case where a multi-stage (for example, three-stage) switch is expressed.

[0362] like Figure 23 As shown, in step S91, first, when the circuit power is turned on, the operation input device 1 is driven, and the proximity sensor 404 and the magnetic sensor 91 are reset to zero. If a finger approaches the operation face 5 of the operation input device 1, which serves as a switch, in order to operate the operation face 5, in step S93, the proximity sensor 404 detects the finger's approach to the switch and outputs the detection information to the microcomputer 400. In step S93, the microcomputer 400 detects the finger's approach and transfers the process to step S95.

[0363] In step S95, the microcomputer 400 drives the actuator 10 to displace the operation face 5 (and the movable body 20) to a position suggesting an operation, or to a state where the operation face 5 is moved upward and protruded, i.e., a hovering state ("hover on"). Specifically, the operation face 5 is displaced (deformed) by protruding from the surface 4b, thereby indicating the operation position of the operation face 5 to the user or facilitating an operation using the operation face 5.

[0364] Furthermore, the microcomputer 400 places the operation surface 5 in a state in which user operations are possible. Furthermore, the state in which the operation surface 5 is in which user operations are possible is a state in which the actuator 10 can operate in a plurality of operation modes in order to provide a corresponding tactile sensation when the operation surface 5 directly connected to the actuator 10 is operated by the microcomputer 400.

[0365] Thus, in step S95, the microcomputer 400 and the microcomputer 401 in step S65 (refer to Figure 21 ), if the user's finger approaches the operating face 5, the entire operating face 5 itself, which is the operating portion of the operation input device 1, is moved (raised). By the movement (raising) of the operating face 5, the operating face 5 is easily identified, and the operation itself is promoted. In addition, a light-emitting body such as an LED may be provided on the operating face 5 itself or near the operating face 5, and driven and controlled by the microcomputer 400 to emit light as the movable body 20 moves. By the light-emitting body emitting light, the position of the operating face 5 and the operation of the operating face 5 are further identified, and the operation using the operating face 5 is promoted to the user.

[0366] Next, in step S97, operation surface 5 as a button is pushed in (up to three times), and the process proceeds to step S99. In step S99, magnetic sensor 91 detects the load applied to movable body 20 as the pushing action of movable body 20 due to the operation.

[0367] In step S99, the magnetic sensor 91 detects the displacement of the movable body 20, that is, the load applied to the movable body 20 by the pushing action of the button (operation surface 5), and transmits the detected detection information to the microcomputer 400. Based on the detection results from the magnetic sensor 91, the microcomputer 400 detects the position of the movable body 20. At this time, the microcomputer 400 can detect the number of switch levels (for example, a predetermined number of times such as three) represented by the detected position of the movable body 20.

[0368] Next, in step S101, microcomputer 400 determines whether the value corresponding to the position of movable body 20 has reached a set value (threshold), and repeats this process until the set threshold is reached. Specifically, in step S101, it determines whether movable body 20 has been pushed through a predetermined stroke. If movable body 20 has reached the set threshold in step S101, the process proceeds to step S103.

[0369] In step S103, the microcomputer 400 causes the actuator 10 to perform a predetermined action. In this process, as a switch action, the microcomputer 400 not only imparts the tactile sensation of pressing in the direction of the pressing operation on the operating surface 5, but also imparts the tactile sensation of further pressing. Specifically, in step S103, the microcomputer 400 does not apply a force in the opposite direction of the user's pressing operation to the movable body 20 via the actuator 10, but instead operates to provide a tactile sensation that follows the user's operation ("follow-up actuator drive off"). This is set based on the action mode (reaction force, stroke) corresponding to the number of times the button is pushed.

[0370] Next, in step S105, the microcomputer 400 determines via the magnetic sensor 91 whether the pressing state of the operating surface 5 as a button has been released. If it has not been released, that is, it is still being pressed by the user (being operated), the process returns to step S97. If the microcomputer 400 detects that the button is in the released state in step S105, the process proceeds to step S106.

[0371] In step S106, based on the detection result of magnetic sensor 91, it is determined whether the button has been pushed a predetermined number of times. The process then returns to step S97 and repeats until the stroke position reaches the position corresponding to the predetermined number of times, providing a tactile sensation each time. If, in step S106, the button has been pushed a predetermined number of times, for example, the button has been pressed to the third level, the process proceeds to step S107.

[0372] In step S107 , the microcomputer 400 obtains the releasable position of the button via the magnetic sensor 91 , and the process proceeds to step S109 .

[0373] In step S109, the microcomputer 400 determines whether the value indicating the position at which the button has been released (more specifically, the pressed state has been released) is below a set threshold. If so, the microcomputer 400 determines that the button has been released and moves to step S111. If not, the microcomputer returns to step S107 and repeats the process.

[0374] In step S111, the microcomputer 400 drives the actuator 10 with a predetermined action, and imparts this action to the user's finger via the operating surface 5 serving as a button. The predetermined action in step S111, for example, causes force feedback drive ("actuator drive on / gain adjustment"), that is, a load (gain adjustment) in the opposite direction of pressing is applied to the operating surface 5 to move the operating surface 5. As a result, when the user stops pressing the button or releases the finger from the button, a tactile sensation of releasing the button from the pressed state is imparted. Next, in step S113, the microcomputer 400 detects a situation in which the finger leaves the button (operating surface 5) but is located near the operation input device 1 (operating surface 5) based on the detection information input from the magnetic sensor 91 and the proximity sensor 404.

[0375] Next, in step S115, if the microcomputer 400 detects the finger has been removed via the proximity sensor 404, the process proceeds to step S117. In step S117, the microcomputer 400 drives the actuator via the actuator driver 430, disengaging the hovering state, that is, releasing the protruding state of the operation surface 5. This results in the surface 4b of the operation input device 1 becoming flat.

[0376] Thus, in the operation input device 1 of this embodiment, in the state of seamless design, if the user wants to operate the operation face 5, the operation face 5 itself can be moved to confirm its position. In addition, the movement of the operation face 5 itself can promote the user's operation.

[0377] When the operation surface 5 is operated, the actuator 10 is driven in various set motion patterns to drive (vibrate, displace) the movable body 20 , thereby expressing and imparting a tactile sensation as an operational feeling corresponding to the operation.

[0378] In this way, according to the operation input device 1, the position of the operation face 5 can be presented to the user by the operation of the operation face 5 accompanying the operation of the movable body 20, and the operability and operating feel of the operation face 5 can be ensured when operating the operation face 5 while achieving miniaturization.

[0379] Other actions

[0380] FIG. 24 is a diagram showing an example of the operation of the actuator.

[0381] In the operation input device 1, for example, as an action to promote the operation by the operation face 5 to the user, such as Figure 24A 、 Figure 24BAs shown, the plurality of actuators 10-2 and 10-3 are alternately driven to make the operation faces 5 alternately appear and disappear from the surface of the device housing 2. The speed of appearance and disappearance can also be appropriately set, thereby facilitating the operation for the user. In addition, when the operation is performed by the proximity of the user's finger, the proximity sensor 404 (see Figure 13 ), the microcomputer 400 drives the actuators 10 (10-1 to 10-3).

[0382] (Implementation Method 2)

[0383] Figure 25 This is a perspective view of the appearance of an operation input device according to a second embodiment of the present invention. Figure 26 This is an exploded perspective view of an operation input device according to a second embodiment of the present invention. Figure 27 yes Figure 25 The cross-sectional view of the part viewed along the C-C line, Figure 28 This is a perspective view of the appearance of the operation input device in the second embodiment of the present invention after the face is displaced. Figure 29 yes Figure 28 Partial cross-sectional view viewed along line D-D.

[0384] Compared with the operation input device 1, the operation input device 1A differs in that the surface of the device housing 2 having the operation face 5 as the operation portion is covered with a soft, planar, flexible component (elastic planar portion) 8 to provide a seamless appearance, and the other structures are the same.

[0385] Specifically, the operation input device 1A, like the operation input device 1, houses actuators 10-1, 10-2, and 10-3 held via a bracket 6 within a device housing 2. An operation surface 5 serving as an operation portion is vertically fixed to the output shaft portion 25 of the movable body of each actuator 10-1, 10-2, and 10-3.

[0386] The operation surface portion 5 is movably arranged in the opening 4 a of the surface of the device housing 2 (the surface 4 b of the cover 4 ) so as to be flush with the surface 4 b of the cover 4 .

[0387] A deformable flexible member 8 is disposed on the operating face 5, and the surface of the cover 4, that is, the surface of the device housing 2, is seamless. Thus, the flexible member 8 is disposed on the surface 4b of the cover 4 so as to cover the operating face 5. The operating face 5 can be freely lifted from the rear side or pressed from the front side by the operation of the movable body 20.

[0388] The flexible member 8 is formed of a sheet-like stretchable material. The flexible member 8 may be formed of, for example, rubber, elastomer, sponge, cloth, or the like.

[0389] like Figure 28 as well as Figure 29 As shown, the flexible member 8 does not hinder the movement of the operation face portion 5 . When the operation face portion 5 rises, the flexible member 8 is pressed by the operation face portion 5 and deformed, and the flexible member 8 becomes a protruding state taking the shape of the operation face portion 5 .

[0390] In the operation input device 1A, the actuator is driven to displace the operation face 5 on the surface of the device housing 2 where the operation face 5 is not visible, thereby allowing the user to confirm the position of the operation face 5. In addition, operation of the operation face 5 can be facilitated.

[0391] Furthermore, by pressing a portion of the flexible member 8 on the protruding operation face 5, the operation input device 1A provides the user with a tactile sensation corresponding to the operation, including vibration, reaction force, displacement, etc., via the operation face 5. Furthermore, the operation input device 1A has a function of detecting the position of the operation face 5 and the load on the operation face 5 based on the operation.

[0392] According to the operation input device 1A, the position of the operation face 5 can be presented to the user by the operation of the operation face 5 accompanying the operation of the movable body 20, and the operability and operational feel of the operation face 5 can be ensured when operating the operation face 5 while achieving miniaturization.

[0393] Similar to the operation input device 1, the operation input device 1A can observe, recognize, and determine the user's situation when the user attempts to operate the operation portion (operation face), thereby moving the operation portion and identifying the position of the operation portion. Furthermore, the operation input device 1A can proactively encourage the user to operate using the operation face 5.

[0394] The operation input device 1 or 1A of the present embodiment includes a detection unit (eg, proximity sensor 404) for detecting a user's action. Figure 13 As shown in FIG. 9 , the operation input device 1 or 1A drives the actuator 10 directly connected to the operation portion based on the information from the detection portion in accordance with the operation, thereby providing a tactile sensation.

[0395] Therefore, the operation input device 1 or 1A may use a detection unit that detects the user's behavior to predict the user's next behavior, and move the operation unit for performing the operation for the behavior to encourage the user to operate the operation unit.

[0396] For example, the operation input device 1, 1A can be used as an operating unit for collectively operating the power switches of electrical appliances, including the lighting in the home, and a detection unit for detecting the opening of the entrance door can be used. If it is detected that the user has opened the entrance door upon returning home, the switch can be activated (or can be accompanied by light emission). This allows the user to identify the location of the switch. In addition, the opening and closing of the entrance door can also be composed of a switch that is turned on and off by opening and closing, and a signal indicating the turning on and off is output to a microcomputer when the switch is turned on and off. Alternatively, a camera or other imaging device can be used to detect users entering and leaving the entrance door.

[0397] Furthermore, when operating a shared car, rental car, or other vehicle, the location of the engine start key may be moved when unlocking the vehicle, so that the user can recognize the location.

[0398] In addition, when boarding the vehicle, in order to detect the ETC card insertion port, the mirror adjustment button, and the fuel level, the instrument part itself can also be moved to identify the operation position.

[0399] For example, in the operation input device 1 or 1A, a camera is used as the user action detection unit 94 instead of the proximity sensor 404 (see FIG. Figure 13 ) structure, for example, a structure for detecting the user by using the camera to photograph the user getting on the vehicle. The microcomputer 400 that receives the detection signal from the camera that detects the user drives the actuator 10 to displace the operating face 5, observes and confirms the operating face 5, and observes and confirms the position of the insertion port of the ETC card. In addition, in the case where the operating face 5 is a button for adjusting the angle of the side mirror or the rearview mirror, the position of the button can be identified to promote the angle adjustment of each mirror. In addition, the operation input device 1, 100, 1A is integrated with the operating face 5, and by appropriately changing the working speed, working interval, etc., the movable body 20 as the operating part itself is operated, and humanized emotions can also be expressed. For example, anger can convey power and give a tactile sensation with a stronger intensity and shorter interval (violent vibration) than sadness, while joy can also convey power and give a tactile sensation that is weaker and softer than other emotions. Various expressions can be performed.

[0400] However, in a structure that incorporates force feedback on an operating mechanism, if the principle of generating the feedback vibration or force does not utilize phenomena such as collision or contact between components, the resulting shock or sound is not recommended from the perspective of operational feel. In light of this, the following describes an operational input device that can provide a high-quality operational feel from an actuator even in a compact form factor.

[0401] Hereinafter, this embodiment will be described in detail with reference to the accompanying drawings. Components common to the various drawings are denoted by the same reference numerals, and their descriptions are omitted as appropriate.

[0402] (Implementation 3)

[0403] Figure 30 1 is a perspective view showing the appearance of an operation input device according to a third embodiment of the present invention. Figure 31 yes Figure 30 Partial sectional view viewed along line F-F. Figure 32 This is a perspective view of the appearance of the operation input device in accordance with the third embodiment of the present invention after the face is displaced by operation. Figure 33 yes Figure 32 The G-G line section view. In addition, Figure 34 This is an exploded perspective view of an operation input device according to Embodiment 3 of the present invention. Furthermore, in these embodiments, directional expressions such as up, down, left, right, front, and back, used to explain the structure and operation of the various components of the operation input device, are not absolute but relative. These expressions should be interpreted as being appropriate when the operation surface is in the illustrated position, but should be modified to reflect changes in that position.

[0404] The operation input device 1a has the following functions: providing a tactile sensation including vibration, reaction force, thrust, displacement, etc. as an operation feeling to the user through an operation portion operated by the user's contact or pressing; and detecting the position of the operation portion and the load on the operation portion based on the operation.

[0405] For example, when a user attempts to operate an operating unit, the operation input device 1a can observe, recognize, and determine the user's situation and move the operating unit. This allows the user to identify the position of the operating unit or the movement of the operating unit. In particular, by driving the operating unit operated by the user, the operation input device 1a can proactively encourage the user to operate the operating unit.

[0406] like Figures 30 to 33 As shown, the operation input device 1 a includes: a device housing 2 ; operation surfaces 5 - 1 to 5 - 3 that are movably disposed on the surface of the device housing 2 and operated by a user; and an actuator 10 a .

[0407] However, the structure of the operation input device 1a does not necessarily require the device housing 2 and the operation surfaces 5-1 to 5-3. For example, if the operation surfaces 5-1 to 5-3 are not provided, the distal end of the output shaft portion 25, described later, can function as the user-operated operation portion. In other words, the operation input device 1a can be manufactured as a single unit of the actuator 10a, and during use (for example, when the actuator 10a is assembled into the device housing 2, described later), the operation surfaces 5-1 to 5-3 are attached to the actuator 10a.

[0408] <Device housing 2>

[0409] The device housing 2 is formed into a hollow rectangular parallelepiped and includes a base 3 and a cover 4. The base 3 is plate-shaped, and the box-shaped cover 4 with an open bottom surface is attached via a fixing member 7 so as to cover the base 3 from above.

[0410] An electromagnetically driven actuator 10 a is disposed inside the device housing 2 to move the operation surface portions 5 - 1 to 5 - 3 in the vertical direction, specifically, upward from the surface 4 b of the cover portion 4 .

[0411] The device housing 2 houses the main bodies of the plurality of actuators 10 a - 1 to 10 - 3 .

[0412] In the following description, when the multiple operation surfaces 5-1 to 5-3 are not distinguished, they may be simply referred to as "operation surface 5". In addition, when the multiple actuators 10-1 to 10-3 are not distinguished, they may be simply referred to as "actuator 10a".

[0413] Through holes 3a are formed at predetermined intervals in the base portion 3. The actuators 10-1 to 10-3 are mounted on the base portion 3 while being held by the bracket (holding portion) 6 so as to be located opposite the through holes 3a.

[0414] The bracket 6 includes semicircular segmented bodies 6a arranged to surround the actuators 10-1 to 10-3. The segmented bodies 6a are secured by fixing members 6b, thereby sandwiching the actuators 10-1 to 10-3. The segmented bodies 6a are then secured to the base 3 using fixing members 6c. This prevents the actuators 10-1 to 10-3 from moving left, right, front, back, or up or down relative to the base 3.

[0415] The actuators 10 - 1 to 10 - 3 include output shafts (protrusions) 25 that are arranged to protrude upward from the center of the upper surface of a fixed body serving as a main body and move in the vertical direction.

[0416] In the actuators 10 - 1 to 10 - 3 , the fixed body is formed in a cylindrical shape, and the output shaft portion 25 is directly fixed to the operation surface portions 5 - 1 to 5 - 3 .

[0417] The output shaft portion 25 extends perpendicularly to the base portion 3 , and the front end portion is joined perpendicularly to the operation surface portions 5 - 1 to 5 - 3 .

[0418] The operation surface portions 5 - 1 to 5 - 3 are arranged in an opening portion 4 a formed in the surface 4 b of the cover portion 4 , and are movable in the up-down direction in the opening portion 4 a .

[0419] The operating surfaces 5-1 to 5-3 have surfaces that are freely retractable relative to the device housing 2, and these surfaces are flush with the surface 4b. Furthermore, the direction of movement of the movable body 20 when imparting an operational feel and the direction of movement of the movable body 20 when presenting the operational position of the operating surface 5 or promoting an operation coincide with the direction of retraction of the operating surfaces 5-1 to 5-3.

[0420] The operation surface portions 5 - 1 to 5 - 3 are arranged to be movable vertically relative to the surface 4 b of the cover portion 4 (housing 2 ). This is because the movable body 20 is arranged to be movable in a direction perpendicular to the surface 4 b of the cover portion 4 .

[0421] The operation surfaces 5-1 to 5-3 preferably have a shape that is easy for the user to operate. In this embodiment, the operation surfaces 5-1 to 5-3 are operated by the user's fingers and are therefore formed in a disc shape having a surface with a circular diameter for the fingertips to contact, corresponding to the user's fingers.

[0422] like Figures 30 to 33 As shown, the operating surfaces 5-1 to 5-3 are flush with the surface 4b of the cover 4 in the inoperative state, and are displaceable to a position protruding upward from the surface 4b of the cover 4 in the operative state. As the operating surfaces 5-1 to 5-3 move up and down, the output shaft 25 also moves up and down accordingly.

[0423] <Overview of Actuator 10a>

[0424] Figure 35 FIG. 1 is a perspective view of the appearance of an actuator in an operation input device according to a third embodiment of the present invention. Figure 36 : is a longitudinal sectional view showing the main structure of the actuator. Figure 37 FIG. 1 is a diagram showing the internal structure of the actuator after the outer casing is removed. Figure 38 This is an exploded perspective view of the actuator.

[0425] The actuator 10a includes a movable body 20 connected to the operation face 5. The actuator 10a is electromagnetically driven to operate the movable body 20, which provides the user with an operational feel via the operation face 5. Furthermore, the actuator 10a is electromagnetically driven to operate the movable body 20, which presents the user with an operational position of the operation face 5 or facilitates the operation.

[0426] The actuator 10 is, for example, a sensory presentation actuator, and is configured to transmit the reciprocating motion of the movable body 20 corresponding to the user's contact operation on the operation face 5 as the user's operational sense (tactile sensation, force sensation, etc.). The actuator 10a of this embodiment is configured to indicate the position of the operation face 5 and facilitate operation of the operation face 5 by moving the operation face 5 itself, which serves as the operating portion and is directly connected to the movable body. Furthermore, when the movable body is moved to move the operation face 5, the position of the operation face 5 can be more reliably indicated to the user by emitting light.

[0427] The actuator 10a is used as a device for detecting operation and providing operational (tactile) feedback. Tactile feedback, in addition to tactile feedback, also provides feedback to the user through the user's operating face plate 5, such as force feedback, through the operation and vibration of the movable body 20. For example, this function, which can also be referred to as tactile feedback, force feedback, or force feedback, is used to convey a sense of touch and operation.

[0428] like Figure 35 as well as Figure 36 As shown, the actuator 10a uses the axial direction (up and down direction) of the housing 12 as the moving direction, so that the movable body 20 can be accommodated in the hollow housing 12 so as to reciprocate between the upper and lower end surfaces. The housing 12, together with the coils 61 and 62, accommodates the movable body 20 so that the protruding end side of the output shaft portion 25 protrudes outward. When in use, the actuator 10a is held by the bracket 6 and fixed to the base portion 3 so as not to move, so the housing 12 can be regarded as an example of a fixed body. The actuator 10a has a magnetic sensor 91 for detecting the moving position of the movable body 20. The actuator 10a is connected to the operating surface 5 (5-1, 5-2, 5-3) (refer to Figures 32 to 34 ), and transmits the movement of the movable body to the operation surface 5 (5-1, 5-2, 5-3).

[0429] <Structure of Actuator 10a>

[0430] Actuator 10a includes a magnet 30 on movable body 20 and coils 61 and 62 on fixed body 50. The energized coils 61 and 62 cooperate with the magnet 30 to cause movable body 20 to reciprocate in a linear direction. Actuator 10a also includes elastic support members 81 and 82 that support movable body 20 for reciprocal movement relative to fixed body 50.

[0431] Specifically, actuator 10a includes a movable body 20 having a pair of yokes 41, 42, and a pair of spring stoppers 22, 24 in addition to magnet 30; and a fixed body 50 having an outer yoke 70 in addition to a pair of annular coils 61, 62. Furthermore, a pair of elastic support members 81, 82 are provided between movable body 20 and fixed body 50.

[0432] Furthermore, the actuator 10a includes a buffer member 95 provided between the movable body 20 and the fixed body 50. The buffer member 95 has flexibility and can absorb external impact.

[0433] The movable body 20 is movably mounted on the fixed body 50 via the elastic support portions 81 and 82 in the moving direction of the movable body when imparting an operational feel and in the moving direction of the movable body 20 when presenting the operating position of the operating surface 5 ( 5 - 1 , 5 - 2 , 5 - 3 ) or promoting an operation.

[0434] In addition, the yokes 41, 42, spring stoppers 22, 24, and coils 61, 62 are each provided in a pair, but are not limited thereto. As long as they can move freely in both directions or unidirectionally in a straight line direction, each part can also be provided with one or more than three.

[0435] In the actuator 10a, the coils 61 and 62, the outer yoke 70, the magnet 30, and the yokes 41 and 42 constitute a magnetic circuit that enables the movable body 20 to move. In the actuator 10a, the coils 61 and 62 are energized from a power supply unit (not shown) via the terminal portion 75, and the movable body 20 is movable. The movable body 20 can reciprocate in both axial directions as the reciprocating direction or in one axial direction as the unilateral direction. The actuator 10a moves in both axial directions, for example (see Figure 40 direction of the arrow).

[0436] In the actuator 10a of this embodiment, the movable body 20 reciprocates in a moving direction (also the axial direction of the coils 61 and 62) along the retaining portion main body (protective wall portion, cylindrical body) 522 disposed between the movable body 20 and the coils 61 and 62 held by the coil retaining portion 52. Furthermore, the moving direction is not only the axial direction of the coils 61 and 62, but also the direction of excitation of the magnet 30 and the axial direction of the coil retaining portion 52.

[0437] In addition, if Figure 37 As shown, the actuator 10a can also be configured such that the unit 15, in which the fixed body 50 and the movable body 20 are connected by the elastic support parts 81 and 82, is housed in the housing 12 having the housing body 13 and the cover 14. This allows the main parts of the actuator 10a to be assembled with high precision in a process separate from the process of assembling the housing 12.

[0438] <Movable Body 20>

[0439] The movable body 20 is arranged so that, when not movable, the center of its length in the reciprocating direction is opposed to the center of its length in the reciprocating direction of the coil holding portion 52 with a predetermined gap therebetween in a direction perpendicular to the axial direction of the movable body 20 via the elastic support portions 81 and 82. In this embodiment, the center of its length in the reciprocating direction of the magnet 30 and the yokes 41 and 42 is preferably arranged so as to oppose the center of its length in the reciprocating direction of the coils 61 and 62 spaced apart from each other in a direction perpendicular to the reciprocating direction. Alternatively, a magnetic fluid may be interposed between the holding portion main body 522 and the movable body 20.

[0440] like Figure 36 、 Figures 38 and 39 As shown, the movable body 20 includes an output shaft portion 25 , a first spring fixing portion 26 , and a second spring fixing portion 28 in addition to the magnet 30 , the yokes 41 , 42 , and the spring stoppers 22 , 24 .

[0441] The movable body 20 is provided with yokes 41 and 42, spring stoppers 22 and 24, a first spring fixing portion 26, and a second spring fixing portion 28, respectively, arranged continuously in both directions of the reciprocating motion, centered around the magnet 30. Specifically, the movable body 20 has the yokes 41 and 42 stacked on the front and back surfaces 30a and 30b of the magnet 30. The spring stoppers 22 and 24, one end of which engages with the openings 412 and 422 of the yokes 41 and 42, have elastic support portions 81 and 82 engaged at the other end.

[0442] Furthermore, in movable body 20, outer peripheral surfaces 20a of magnet 30 and yokes 41 and 42 are positioned opposite inner peripheral surface 522a of retaining portion main body 522 at a predetermined distance therefrom. When movable body 20 reciprocates, outer peripheral surface 20a reciprocates along inner peripheral surface 522a without contact.

[0443] The magnet 30 is solid and magnetized in the reciprocating direction. Specifically, the magnet 30 is formed into a disk shape, with front and back surfaces 30a and 30b separated in the reciprocating direction (thickness direction) and having magnetic pole surfaces of different polarities (for example, the front surface 30a is the south pole and the back surface 30b is the north pole).

[0444] The magnet 30 is positioned radially inward of the coils 61 and 62 (described in detail later). Here, "radial" refers to a direction perpendicular to the axes of the coils 61 and 62, and also perpendicular to the direction of reciprocating motion. This radial "gap" is the distance between the coils 61 and 62, including the retaining portion body 522, and the magnet 30, and is designed to allow the coils 61 and 62 to move without contacting each other in the direction of reciprocating motion of the movable body 20. Furthermore, a predetermined gap is also provided between the retaining portion body 522 and the magnet 30.

[0445] In this embodiment, the magnet 30 is arranged so that the center of the radially outer peripheral surface in the width direction is opposite to the center of the holding portion body 522 in a direction perpendicular to the axial direction. Furthermore, the magnet 30 may be arranged inside the coils 61 and 62 so as to face the two excitation surfaces in the direction of extension of the axes of the coils 61 and 62, that is, in the direction of reciprocating motion. Other shapes, such as a cylindrical or plate-like shape, may also be used.

[0446] In this embodiment, the magnet 30 is solid. Unlike a cylindrical body, this saves time and effort in machining the opening, and the area of ​​the front and back surfaces that will become the magnetic pole faces is not reduced by the formation of the opening. Furthermore, the axial center of the magnet 30 is preferably aligned with the axial center of the movable body 20.

[0447] The exciting direction of the magnet 30 is parallel to the moving direction of the movable body 20 .

[0448] Yokes 41 and 42 are magnetic bodies and constitute a movable body side magnetic circuit together with magnet 30. Yokes 41 and 42 concentrate the magnetic flux of magnet 30, allowing it to flow efficiently without leakage, and effectively distribute the magnetic flux flowing between magnet 30 and coils 61 and 62.

[0449] In addition to functioning as a part of the magnetic circuit, yokes 41 and 42 also function to fix spring stoppers 22 and 24. Furthermore, yokes 41 and 42 may function as the main body of movable body 20 and as a counterweight in movable body 20.

[0450] In this embodiment, the yokes 41 and 42 are formed into annular flat plates having the same outer diameter as the magnet 30. The yokes 41 and 42 are fixed to the magnet 30 so that their outer peripheral surfaces are flush with the outer peripheral surface of the magnet, and together with the outer peripheral surface of the magnet, form the outer peripheral surface 20a of the movable body 20.

[0451] The yokes 41 and 42 are identically shaped components arranged around the magnet 30, but may also be shaped differently. Furthermore, the yokes 41 and 42 are attracted by the magnet 30 and secured to the magnet 30, and may be fixed to the magnet 30 using, for example, a thermosetting adhesive such as epoxy resin or an anaerobic adhesive.

[0452] Openings 412 and 422 are provided in the center of each of the yokes 41 and 42 so as to penetrate in the axial direction, that is, in the thickness direction. One end portion of the upper and lower spring stoppers 22 and 24 is fitted into and fixed to the openings 412 and 422, respectively.

[0453] Openings 412 and 422 support spring stoppers 22 and 24 so that their respective axes (here, aligned with the centers of elastic support members 81 and 82) are located on the central axis of movable body 20. Openings 412 and 422 allow adjustment of the degree of opening of yokes 41 and 42, adjust the weight of movable body 20, and set the optimal reciprocating motion output.

[0454] In the present embodiment, yokes 41 and 42 are arranged to face coils 61 and 62 in a direction perpendicular to the axial directions of coils 61 and 62 on the inner sides (radially inner sides) of coils 61 and 62 when movable body 20 is not reciprocating.

[0455] In the yokes 41 and 42, it is preferable that the height position of the upper surface of the yoke 41 on the upper side (front side) of the magnet 30 is opposite to the center position of the upper coil 61 in the height direction (reciprocating direction). In addition, it is preferable that the height position of the lower surface of the yoke 42 on the lower side (back side) of the magnet 30 is opposite to the center position of the lower coil 62 in the height direction (reciprocating direction).

[0456] Spring stoppers 22 and 24 secure the movable body magnetic circuit to elastic supports 81 and 82 and serve as a counterweight for movable body 20. Spring stoppers 22 and 24 are axially symmetrically arranged across magnet 30 and yokes 41 and 42 to increase the reciprocating motion output of movable body 20 driven by power supplied to the coil.

[0457] In this embodiment, the spring stoppers 22 and 24 are formed into the same shape. Therefore, details of the spring stopper 24 will be described by including the corresponding reference numerals in the description of the spring stopper 22, and the description of the spring stopper 24 will be omitted. Since the spring stoppers 22 and 24 are formed into the same shape, the production cost of components in manufacturing the actuator 10a can be reduced.

[0458] In the present embodiment, the spring stoppers 22 and 24 also function as axes of the movable body extending along the central axis of the movable body 20 , and are interposed between the yokes 41 and 42 and the elastic support portions 81 and 82 .

[0459] The spring stoppers 22 and 24 have engaging portions 222 and 242 and spring fixing portions 224 and 244. These engaging portions 222 and 242 and spring fixing portions 224 and 244 are respectively provided continuously in the reciprocating direction.

[0460] The spring stoppers 22 and 24 are cylindrical and have a through hole 23 extending therethrough. The base end of the output shaft 25 is inserted into the through hole 23 of the spring stopper 22 and is firmly fixed thereto.

[0461] The joints 222 and 242 are cylindrical bodies positioned along the axis of the movable body 20 and are joined to the yokes 41 and 42, respectively. One end of the joints 222 and 242 is inserted into the openings 412 and 422 of the yokes 41 and 42, respectively, for internal engagement. Meanwhile, the other ends of the joints 222 and 242 are positioned in opposite directions with the magnet 30 as the center, forming two ends separated in the direction of movement of the movable body 20. The other ends are joined to the elastic support portions 81 and 82, respectively, described below.

[0462] Spring stoppers 22 and 24 are joined by press-fitting into yokes 41 and 42, but this is not limiting. For example, they may be joined by bonding using a thermosetting adhesive such as epoxy resin or an anaerobic adhesive. Furthermore, while joining portions 222 and 242 are tubular, they may also be solid cylinders or rods with a recessed portion on their axis.

[0463] The spring fixing portion 224 is provided in the spring stopper 22 so as to protrude from the engaging portion 222 to the other side (upward) and is a cylindrical body having an outer diameter larger than that of the engaging portion 222. The engaging surface of the spring fixing portion 224, which is the front end (upper end) thereof, is arranged around the output shaft portion 25.

[0464] The output shaft 25 is connected to the movable body 20 and moves along with the movable body 20, outputting the movement of the movable body 20 to the outside. The output shaft 25 is arranged on the axis of the movable body 20. The base end of the output shaft 25 is embedded in the spring stopper 22 and fixed to the movable body 20. The other end is exposed to the outside of the actuator 10a through the central opening 146 of the cover 14.

[0465] The output shaft portion 25 is inserted through the inner circumferential portion 802, the end portion (the other end portion) on the inner diameter side of the upper leaf spring serving as the elastic support portion 81. The inner circumferential portion 802 is the central portion of the circular leaf spring and is held between the spring fixing portion 224 and the first spring fixing portion 26 while in contact with the engaging surface of the spring fixing portion 224. Thus, the spring fixing portion 224 is engaged with the elastic support portion 81.

[0466] The output shaft portion 25 is provided on the movable body 20 so as to protrude relative to the elastic support portion 81 to the opposite side of the magnet 30 in one direction of the moving direction of the movable body 20, and can move freely forward and backward outside the fixed body 50. At the front end portion of the output shaft portion 25, the central portion of the back side of the operating face portion 5 is fixed in a manner orthogonal to the extension direction of the output shaft portion 25. The user who operates the operating face portion 5 directly transmits the drive of the movable body 20 via the operating face portion 5 and the output shaft portion 25. Thus, the operation input device 1a can respond at high speed when performing vibration output, displacement output (displacement of the movable body 20 corresponding to the operation), and load detection, and can provide strong feedback. In addition, it is possible to express an operational feel (tactile feel) corresponding to long-stroke operations.

[0467] On the other hand, the spring fixing portion (lower spring fixing portion) 244 arranged on the opposite side of the spring fixing portion 224 of the first spring stopper 22 via the magnet 30 is engaged with the inner peripheral portion 802 as the inner diameter side end portion of the lower leaf spring serving as the elastic support portion 82 .

[0468] The spring fixing portion 244 is provided on the spring stopper 24 so as to protrude toward the other side (downward) from the engaging portion 242, and is a cylindrical body having a larger outer diameter than the engaging portion 242. In the spring fixing portion 244, the inner peripheral portion 802 of the lower leaf spring serving as the elastic support portion 82 is brought into contact with the engaging surface serving as the front end (lower end) thereof, and the inner peripheral portion 802 is clamped together with the second spring fixing portion 28 inserted into the through-hole opening in the engaging surface.

[0469] Specifically, the second spring fixing portion 28 inserts the shaft-shaped insertion portion 282 into the through-hole of the spring fixing portion 244, so that the flange 284 provided on the outer periphery of the base end portion of the insertion portion, together with the engaging surface of the spring fixing portion 244, clamps the inner periphery 802 of the elastic support portion 82. As a result, the spring fixing portion 244 and the elastic support portion 82 are engaged.

[0470] For example, a blind rivet or other rivet may be used as the second spring fixing portion 28. The second spring fixing portion 28 is fixed in the through hole of the spring fixing portion 244 by press-fitting the shaft-shaped insertion portion 282 with riveting or the like.

[0471] Furthermore, simply by providing the spring stoppers 22 and 24 in the movable body side magnetic circuit, the upper and lower leaf springs serving as the elastic support portions 81 and 82 can be easily assembled to the movable body 20 , thereby improving assemblability.

[0472] Spring stoppers 22 and 24 may be made of a magnetic material, but are preferably made of a non-magnetic material. If spring stoppers 22 and 24 are made of a non-magnetic material, the magnetic flux from yoke 41 will not flow upward, and the magnetic flux from yoke 42 will not flow downward, allowing the magnetic flux to flow efficiently toward coils 61 and 62 located on the outer periphery of yokes 41 and 42.

[0473] <Elastic Supporting Parts 81, 82>

[0474] The elastic support portions 81 and 82 are arranged on both sides of the movable body 20 in the moving direction, and support the movable body 20 so that it can move in the moving direction. The elastic support portions 81 and 82 are leaf springs, and are arranged so as to sandwich the movable body 20 in the moving direction of the movable body 20. Furthermore, they are bridged across the movable body 20 and the fixed body 50 so as to intersect the moving direction.

[0475] Specifically, the elastic support portions 81 and 82 are arranged so as to span the two ends (upper and lower ends) of the movable body 20 that are separated in the reciprocating direction and the opening edge of the fixed body 50 (coil holding portion 52) that is arranged radially outward of the two ends. In this embodiment, the elastic support portions 81 and 82 are arranged so as to face each other in a direction perpendicular to the reciprocating direction, sandwiching the movable body 20 in the reciprocating direction.

[0476] The elastic support parts 81 and 82 can be either non-magnetic or magnetic (specifically, ferromagnetic). As long as the elastic support parts 81 and 82 are leaf springs made of non-magnetic materials, stainless steel plates such as SUS304 and SUS316 can also be used to form them. In addition, as long as the elastic support parts 81 and 82 are magnetic, stainless steel plates such as SUS301 can be applied. As the material of the elastic support parts 81 and 82, it is known that, compared with non-magnetic materials (SUS304, SUS316, etc.), magnetic materials (for example, SUS301) have high durability and are cheap. In this embodiment, the elastic support parts 81 and 82 are made of SUS301.

[0477] Elastic support parts 81 and 82 support movable body 20 so that movable body 20 does not contact fixed body 50 during both non-reciprocating and reciprocating motions. Elastic support parts 81 and 82 may be made of any material as long as they can movably elastically support movable body 20.

[0478] Elastic support portions 81 and 82 each comprise a plurality of circular plate-shaped spiral springs that are flat in their normal state. Each elastic support portion 81 and 82 includes arc-shaped deformable arms 804 extending radially outward at equal intervals from the outer edge of the annular plate-shaped inner circumference portion 802. The ends of the deformable arms 804 are connected to an annular plate-shaped outer circumferential fixing portion 806.

[0479] The inner peripheral portion 802 has a shape configured to be disposed on the engaging surfaces of the spring fixing portions 224 , 24 of the spring stoppers 22 , 24 , and has, for example, an outer diameter substantially the same as the outer diameter of the engaging surfaces of the spring fixing portions 224 , 244 .

[0480] The deformable arm portion 804 is elastically deformable, with one end engaging the outer peripheral fixing portion 806 and the other end engaging the inner peripheral portion 802, thereby connecting the outer peripheral fixing portion 806 and the inner peripheral portion 802. Multiple deformable arm portions 804 are arranged in a spiral pattern, spaced at predetermined intervals in the circumferential direction between the inner peripheral portion 802 and the outer peripheral fixing portion 806. Alternatively, the movable body 20 may be supported by three or more elastic support portions (leaf springs) 81 and 82. These multiple leaf springs are mounted in a direction perpendicular to the direction of reciprocating motion.

[0481] In the elastic support portions 81 and 82, respective inner peripheral portions 802 are joined to the two ends (spring fixing portions 224 and 244) separated in the axial direction (reciprocating direction) of the movable body 20. Furthermore, in the elastic support portions 81 and 82, the outer peripheral fixing portion 806 is disposed at each of the two ends of the movable body 20 so as to extend radially outward (in the radial direction).

[0482] The outer peripheral fixing portion 806 has a notch formed on the outer peripheral edge, and is clamped between both opening edges of the coil holding portion 52 and the housing 12 when the movable range defining portion 54 of the coil holding portion 52 is engaged with the notch.

[0483] Specifically, in the elastic support portion 81, the outer peripheral fixing portion 806 is fixed within the housing 12 by being sandwiched between the annular upper end surface 527a of the flange portion 527 and the pressing portion 148 of the cover portion 14. The upper end surface 527a refers to the upper end surface of the portion of the upper flange portion 527 on the upper side (one side) that is away from the movable range forming portion 54.

[0484] Furthermore, in the lower elastic support portion 82, the outer peripheral fixing portion 806 is fixed to the lower end portion of the coil holding portion 52 in the actuator 10a, radially outward of the movable body 20. Specifically, the outer peripheral fixing portion 806 of the elastic support portion 82 is fixed to the annular lower end surface 528a of the flange portion 528 forming the lower side of the lower end portion of the coil holding portion 52, at a position avoiding the movable range forming portion 54.

[0485] The plurality of elastic support portions 81 and 82 swirl in the same direction, for example, and have outer peripheral fixing portions 806 at one outer peripheral end fixed to the fixed body 50 and inner peripheral portions 802 at the other inner peripheral end fixed to the movable body 20 .

[0486] Thus, in this embodiment, multiple spiral leaf springs are used as the multiple elastic support portions 81 and 82. These are attached to the movable body 20 at two ends separated in the direction of movement, elastically supporting the movable body 20 relative to the fixed body 50. Consequently, as the amount of movement of the movable body 20 increases, the movable body 20 moves in a translational direction (here, in a direction perpendicular to the direction of movement) while slightly rotating. If the spiral directions of the multiple leaf springs are opposite, the leaf springs may move in a direction of mutual buckling or tension, thereby hindering smooth movement.

[0487] The actuator 10a includes a pair of elastic support portions 81 and 82, thereby improving the linear motion of the movable body 20 and enabling stable driving of the movable body 20 without being affected by external impacts or disturbances. In particular, the improved linear drive stability improves both the stability of the magnetic sensor output and the stability of the operational feel (tactile output).

[0488] In this embodiment, the elastic supports 81 and 82 are fixed to the movable body 20 so that they swirl in the same direction. Therefore, even if the movable body 20 moves a lot, it can still move smoothly, that is, it can deform in the axial direction. This allows the elastic supports 81 and 82 to have a larger amplitude, not only during movement but also during vibration, which can improve the vibration output.

[0489] However, depending on the desired vibration range of the movable body 20 , the swirling directions of the plurality of elastic support portions 81 and 82 may be designed to be opposite to each other.

[0490] On the other hand, the outer peripheral fixing portion 806 of the upper elastic support portion 81 is fixed to the upper end portion of the coil holding portion 52 in the radial direction. Figure 36 ) is fixed to a portion of the annular upper end surface 527a of the flange portion 527 on the upper side of the upper end portion thereof, which is away from the movable range forming portion 54. In addition, the structure of the coil holding portion 52 will be described in detail later.

[0491] The outer peripheral fixing portion 806 of the elastic support portion 82 is fixed within the housing 12 by being sandwiched between the annular lower end surface 528a of the flange portion 528 and the stepped portion 138 provided on the peripheral edge of the bottom portion 134. The lower end surface 528a refers to the end surface on the upper side (the other side) of the portion of the flange portion 528 on the lower side (the other side) that is away from the movable range forming portion 54.

[0492] The outer peripheral fixing portion 806 is formed into an annular shape, and its outer peripheral portion is formed by the upper and lower end surfaces 527a and 528a of the coil holding portion 52 (see Figure 36 ) and the pressing portion 148 and the step portion 138. Thus, the outer peripheral fixing portion 806 is fixed to the fixed body 50.

[0493] <Fixed body 50>

[0494] like Figure 36 As shown, the fixed body 50 holds the coils 61 and 62 and supports the movable body 20 movably in the moving direction (the coil axial direction, the axial direction of the movable body 20 ) via elastic support portions 81 and 82 on the radially inner side of the coils 61 and 62 .

[0495] The fixed body 50 includes the coil holding portion 52 for holding the coils 61 and 62 in addition to the coils 61 and 62 and the outer yoke 70 .

[0496] In addition to the coils 61 and 62 , substantially all components generating force feedback, such as the movable body 20 and the housing 12 , are connected to the coil holding portion 52 via the elastic support portions 81 and 82 , thereby constituting the actuator 10 a .

[0497] The coil holding portion 52 is a cylindrical body that holds the coils 61 and 62 arranged on its outer circumference. The inner circumference 522a surrounds the magnet 30, and the movable body 20 having the magnet 30 is movably arranged therein. The coil holding portion 52 may be formed into a bobbin shape. In this case, the coils 61 and 62 are wound around the outer circumference of the cylindrical holding portion body (protective wall) inside the coil holding portion 52.

[0498] The coil holding portion 52 is a cylindrical body formed of a resin such as phenolic resin or polybutylene terephthalate (PBT). In the present embodiment, the coil holding portion 52 is formed of a material containing phenolic resin such as highly flame-retardant Bakelite.

[0499] The coil holding portion 52 is constructed from a material containing phenolic resin, which improves flame retardancy. Even when current flows through the held coils 61 and 62, generating heat due to Joule heat, this improves safety during operation. Furthermore, due to the improved dimensional accuracy, the positional accuracy of the coils 61 and 62 is also improved, thereby reducing variations in characteristics during movement, reciprocating motion, or vibration.

[0500] Specifically, the coil holding portion 52 includes a cylindrical holding portion body 522 , a central flange portion 526 and flange portions 527 and 528 protruding radially from the outer periphery of the holding portion body 522 , a terminal portion 75 , and a movable range forming portion 54 .

[0501] The retaining portion body 522 functions as a protective wall to protect the inner movable body 20 from collisions with the coils 61 and 62 during driving. The thickness of the retaining portion body 522 is such that even if the movable body 20 moves, the outer coils 61 and 62 will not be affected.

[0502] Coils 61 and 62 are arranged side by side in the coil axial direction between the central flange 526 and the flanges 527 and 528 (coil mounting portions 52b and 52c) on the outer periphery of the retaining portion main body 522. The retaining portion main body 522 surrounds the coils 61 and 62 radially outwardly relative to the outer periphery of the yokes 41 and 42 of the movable body 20 (the outer periphery of the magnet 30 and the yokes 41 and 42).

[0503] Specifically, the outer peripheral surface of the holding portion main body 522 is provided with concave coil mounting portions 52b and 52c partitioned by a central flange portion 526 and flange portions 527 and 528 and open radially outward on the outer peripheral side.

[0504] The terminal portion 75 functions as a connector portion for bundling the coil windings of the coils 61 and 62 and connecting to an external device. The coils 61 and 62 are connected to the external device via the terminal portion 75, and power can be supplied from the external device to the coils 61 and 62.

[0505] The terminal portion 75 is a conductive component that protrudes from the outer periphery of the holding portion body 522. In this embodiment, the terminal portion 75 is press-fitted into the outer periphery of the central flange portion 526, which is located at the center of the moving direction, on the outer periphery of the holding portion body 522. Thus, the terminal portion 75 is provided so as to protrude from the outer periphery of the central flange portion 526.

[0506] The flanges 527 and 528 are provided at both ends of the holding portion body 522 separated in the axial direction (in this embodiment, the moving direction, also the up-down direction), and constitute the upper and lower ends of the coil holding portion 52 .

[0507] Elastic support portions 81 and 82 are fixed to the ends of the flange portions 527 and 528 in the direction away from the central flange portion 526 (in this embodiment, the upper and lower ends).

[0508] The movable range defining portions 54 are provided at the upper and lower ends of the coil holding portion 52 , and define a movable range between the cover 14 and bottom 134 of the housing 12 and the movable body 20 when the coil holding portion 52 is housed in the housing 12 .

[0509] The movable range defining portion 54 is a protruding edge portion extending from each of the flanges 527 and 528 in the reciprocating direction (vertical direction). The movable range defining portion 54 is provided at a predetermined interval on the annular upper and lower end surfaces (also referred to as "upper end surface," "lower end surface," or "opening end surface") 527a and 528a of the flanges 527 and 528, respectively. The upper end surface 527a is the opening end surface on one side, and the lower end surface 528a is the opening end surface on the other side.

[0510] The flange portion 527 has a protruding movable range forming portion 54 on one opening end surface, protruding in the direction of movement. This opening end surface functions as a top surface receiving portion that receives the lid portion 14 via the movable range forming portion 54. The flange portion 528 has a protruding movable range forming portion 54 on the other opening end surface, protruding in the direction of movement. The other opening end surface functions as a bottom surface receiving portion that receives the bottom portion 134 via the movable range forming portion 54.

[0511] Furthermore, the movable range forming portion 54 is fitted into the cutouts provided in the elastic support portions 81 and 82 to position the elastic support portions 81 and 82 in the radial direction.

[0512] By fitting the movable range forming portion 54 into the notch, the mounting position of the elastic support portions 81 and 82 can be uniformly set to the coil holding portion 52 in each body of the unit 15, and the elastic support portions 81 and 82 can be stably positioned relative to the coil holding portion 52. In addition, the elastic support portions 81 and 82 are not fixed to the fixed body side via multiple components relative to the coil holding portion 52. Thus, in a structure that is not easily affected by component tolerances, circumferential and radial movement such as rotation is restricted, and as a product, deviation of the elastic support portions 81 and 82 can be suppressed, achieving stable characteristics.

[0513] The coil holding portion 52 is housed in the housing 12 and fixed to the edges of the cover 14 and the bottom 134 with the movable range defining portions 54 of the upper and lower end surfaces contacting the edges of the cover 14 and the bottom 134 .

[0514] <Coil>

[0515] In the actuator 10 a , the coils 61 , 62 move in the axial direction of the coils 61 , 62 (the exciting direction of the magnet 30 ) and are used together with the magnet 30 and the yokes 41 , 42 to generate a driving source for the actuator 10 a .

[0516] Coils 61 and 62 generate magnetic fields by energizing based on the detection results of magnetic sensor 91, thereby moving movable body 20. Coils 61 and 62 are arranged radially outside movable body 20. Coils 61 and 62, together with magnet 30, form the same magnetic circuit as a voice coil motor.

[0517] Coils 61 and 62 are disposed on the coil mounting portions 52 b and 52 c . In the present embodiment, the coils 61 and 62 are disposed at positions facing the yokes 41 and 42 in a direction perpendicular to the reciprocating direction.

[0518] The coils 61 and 62 are held in the coil holding portion 52 so that the center position of the coil's axial length (reciprocating direction) is approximately the same position (including the same position) as the center position of the movable body 20's length in the reciprocating direction (including the center position of the magnet 30 in the reciprocating direction). Furthermore, the coils 61 and 62 of this embodiment are wound in opposite directions and configured so that current flows in opposite directions when energized. The coils 61 and 62 are secured within the concave coil mounting portions 52b and 52c by adhesive bonding or the like, and their outer circumferential surfaces are surrounded by an outer yoke 70 on the inner side of the housing 12.

[0519] The ends of coils 61 and 62 are tied to and connected to terminal portions 75 of central flange portion 526. Coils 61 and 62 are connected to an external power supply via terminal portions 75. For example, the ends of coils 61 and 62 may be connected to a DC power supply, which supplies DC power to coils 61 and 62. This generates thrust between coils 61 and 62 and the magnets, enabling them to move in one direction, toward and away from each other, in the axial direction.

[0520] Alternatively, the ends of the coils 61 and 62 may be connected to an AC power supply, and the AC power supply (AC voltage) may be supplied from the AC power supply to the coils 61 and 62. This allows the coils 61 and 62 to generate thrust between themselves and the magnets, which allows them to move toward and away from each other in the axial direction.

[0521] Outer yoke 70

[0522] The outer yoke 70 is a cylindrical magnetic body disposed around the outer circumference of the coil holding portion 52 and radially outwardly covering the coils 61 and 62. The outer yoke 70 prevents magnetic flux from leaking radially outward from the actuator 10a in the magnetic circuit.

[0523] The outer yoke 70 is arranged so that the center of its reciprocating length is at the same height as the center of the inner magnet 30. The shielding effect of the outer yoke 70 reduces magnetic flux leakage to the outside of the actuator.

[0524] Furthermore, outer yoke 70 increases the thrust constant in the magnetic circuit, improving electromagnetic conversion efficiency. Outer yoke 70 utilizes the magnetic attraction of magnet 30 and, together with magnet 30, functions as a magnetic spring. This magnetic spring reduces the stress in elastic supports 81 and 82 when they are mechanical springs, thereby improving the durability of elastic supports 81 and 82.

[0525] <Casing 12>

[0526] The housing 12 has: a bottomed cylindrical housing body 13 having a peripheral wall portion 132 and a bottom portion 134; and a cover portion 14 that blocks the opening portion 135 of the housing body 13. In addition, the housing 12 is columnar. A columnar shape is a shape having a height (thickness) that can generate sufficient thrust in the reciprocating direction by cooperating with the coils 61 and 62 that are opposed to each other on its outer periphery. For example, the housing 12 of the present embodiment is formed into a cylindrical shape by the bottomed cylindrical housing body 13 and the cover portion 14, but is not limited to this shape. It can also be an elliptical column or a polygonal column, and the length in the reciprocating direction can be longer or shorter than the length in the direction orthogonal to the reciprocating direction. In addition, the elliptical shape among the elliptical column and the elliptical shape in the present embodiment mainly refers to an ellipse that includes parallel straight-line portions, and is a small coin shape.

[0527] The cover 14 and the bottom 134 constitute the top surface 142 and the bottom surface (bottom 134 ) of the actuator 10 a in this embodiment, and are arranged facing the movable body 20 of the unit 15 with a predetermined gap in the reciprocating direction of the movable body 20 .

[0528] The cover 14 has a protrusion 144 that protrudes radially outward from a portion of the outer periphery of the top surface 142 and engages with the notch 122 of the housing body 13. The protrusion 144 engages the cover 14 with the notch 122 of the housing body 13, positioning the cover 14 when attached to the housing body 13. The cover 14 and the bottom 134 each restrict the range of motion of the movable body 20. The cover 14 and the bottom 134 function as a range-of-motion restriction portion, acting as a hard stop (limiting the range of motion) for the movable body 20.

[0529] When the cover 14 is attached to the housing body 13, the protrusion 144 of the cover 14 is positioned within the cutout 122 of the housing body 13 over the terminal 75 exposed to the outside at the center of the cutout 122 in the longitudinal direction. Thus, the position of the terminal 75 of the actuator 10a can be determined simply by looking down at the cover 14.

[0530] The housing body 13 is provided with a magnetic sensor 91 and a circuit board 92 .

[0531] The magnetic sensor 91 is mounted on the circuit board 92 , and detects a change in magnetic flux caused by the movement of the magnet 30 of the movable body 20 , thereby detecting the displacement of the movable body 20 .

[0532] <Magnetic sensor 91>

[0533] The magnetic sensor 91 is an example of an operation amount detection unit that detects the amount of movement in the moving direction of the movable body 20, which is moved by a user operation via the operation face 5. The magnetic sensor 91 detects the position of the movable body 20, which is moved by the user operation. The magnetic sensor 91 is provided separately from the movable body 20 in the moving direction of the movable body 20. The moving direction of the movable body 20 may be opposite to the direction in which the movable body 20 moves. In other words, the position of the magnetic sensor 91 may be in the same direction as or different from the moving direction of the movable body 20, as long as it is in the same direction.

[0534] The magnetic sensor 91 is preferably provided on the central axis extending in the reciprocating direction of the movable body 20 (at a position overlapping with the axis of the output shaft portion 25 ) or in the vicinity of the central axis.

[0535] The magnetic sensor 91 is mounted on the outer surface of the housing body 13 together with the circuit board 92 . The magnetic sensor 91 is arranged on the axis of the output shaft portion 25 of the movable body 20 .

[0536] Since the magnetic sensor 91 is provided on the outer surface of the housing 12 , it can be assembled outside the actuator 10 a , thereby improving the assemblability of the actuator 10 a .

[0537] Furthermore, the magnetic sensor 91 can be easily replaced or replaced without disassembling the actuator 10a. Furthermore, the magnetic sensor 91 included in the actuator 10a can be easily inspected.

[0538] Magnetic sensor 91 preferably includes a Hall element. For example, compared to using only a Hall element, the magnetic sensor is preferably a Hall IC that compares the output of the Hall element with a threshold value and outputs a high / low level. Because the output voltage range of a Hall IC is determined by the power supply, the subsequent circuit (microcomputer) can be easily constructed.

[0539] Furthermore, since the output voltage range is determined by the power supply, a Hall sensor with a built-in amplifier, such as a linear Hall IC, can be used in the magnetic sensor 91. This eliminates the need for a separate sensor, amplifier, or dedicated converter such as an AD converter, allowing for the inexpensive and easy construction of peripheral circuits.

[0540] <Circuit Board (Control Unit) 92>

[0541] The circuit board 92 is equipped with a microcomputer, actuator driver, and other components, and includes a drive control unit that controls the actuator. Within the circuit board 92, the magnetic sensor 91 detects the operational load applied to the movable body 20 via the output shaft 25. Based on this detection result, the coils 61 and 62 are energized to control the movement of the movable body 20. The drive control unit may not be located within the actuator 10a. The drive control unit controls the operation input device 1a and is controlled by the microcomputer 400, which controls all components of the operation input device 1a.

[0542] Thus, the actuator 10a can detect the operation load and provide tactile feedback corresponding to the pressing operation. In particular, load detection enables specialized detection of the pressing operation.

[0543] In this manner, in the actuator 10a, the output shaft portion 25 receives the operational load, and tactile feedback is generated based on the operational load received by the output shaft portion 25, which can be presented as the operational feel of the user operating the operation surface 5. Therefore, even if the user's operation is an operation such as a switch or slider, a tactile feel that more accurately reproduces the switch or slider can be fed back and presented.

[0544] By using the magnetic sensor 91 , when configured as an actuator, a magnet that is originally required is used as a sensor, and thus an inexpensive movable body position detection mechanism can be provided.

[0545] As described above, since the actuator 10 a includes the magnetic sensor 91 as a sensor for detecting the displacement of the movable body 20 , the actuator 10 a can easily detect an operation and provide tactile feedback.

[0546] Furthermore, since housing 12 is made of a non-magnetic material, the lower surface of the housing where magnetic sensor 91 is provided is also non-magnetic. Magnetic sensor 91 can thus detect a stable magnetic flux density in the magnetic circuit having magnet 30 and accurately detect the position of movable body 20.

[0547] Furthermore, the exciting direction of the magnet 30 is parallel to the moving direction of the movable body 20. Thus, the magnetic sensor 91 detects the magnetic flux density of the distribution of a single magnetic pole, which can improve sensor detectability and provide stable sensor output.

[0548] Furthermore, movable body 20 is housed within coils 61 and 62 in an axially drivable state. This allows for a more efficient formation of a magnetic circuit capable of generating thrust. Furthermore, since the magnetic flux density toward bottom portion 134 increases, detection by magnetic sensor 91 disposed therein can be performed accurately and easily.

[0549] <Buffer member 95>

[0550] The cushioning member 95 is disposed between the movable body 20 and the fixed body 50. In this embodiment, the cushioning member 95 is disposed on the top surface 142 of the housing 12 of the fixed body 50, more specifically, on the surface of the top surface 142 that faces the operation face 5. This portion is an example of a portion that faces the operation face 5 in front of the pressing direction of the operation face 5 (below the movable direction). The thickness of the cushioning member 95 along the movable direction of the movable body 20 is set so as not to interfere with the movable area of ​​the operation face 5 when the movable body 20 is electromagnetically driven to move or vibrate in the movable direction.

[0551] Therefore, if excessive external force is applied to the movable body 20 or the operating face 5, causing them to move with a stroke greater than their movable range, and the operating face 5 to collide with the cushioning member 95, the cushioning member 95 can absorb the impact. This impact absorption suppresses the collision of the movable body 20 or the operating face 5 with the top face 142, and the resulting collision sound. Furthermore, the collision of the movable body 20 with the bottom 134 of the housing body 13, and the resulting collision sound, can be suppressed. Furthermore, since this collision suppression is possible, the movable body 20 and the operating face 5 can be protected from external impacts such as those caused by being dropped, and the durability of the elastic support portions 81 and 82 that elastically support the movable body 20 can be improved.

[0552] Furthermore, in the present embodiment, since the buffer member 95 is provided on the outer surface side of the housing 12 , the buffer member 95 can be easily provided even after the actuator 10 a alone is completed, and a buffer function can be added later.

[0553] Furthermore, in this embodiment, the thickness of the cushioning member 95 is set so as not to interfere with the movable range of the operation face 5 when the movable body 20 moves or vibrates in the movable direction by electromagnetic drive, but this is not limiting. The thickness of the cushioning member 95 can also be set so that the cushioning member 95 contacts the operation face 5 when the movable body 20 moves or vibrates in the movable direction by electromagnetic drive. In this case, by changing the material or shape of the cushioning member 95, it is possible to adjust the movable range of the operation face 5 and the movable body 20, or to fine-tune the operational feel provided to the user.

[0554] <Operation of Actuator 10a>

[0555] Figure 40 It is a diagram for explaining the operation of the actuator according to the third embodiment of the present invention.

[0556] use Figure 40 The operation of the actuator 10a will be described by taking as an example a case where the magnet 30 is excited in such a manner that the surface 30a on one side of the excitation direction (the upper side in this embodiment) is the S pole and the back surface 30b on the other side of the excitation direction (the lower side in this embodiment) is the N pole.

[0557] In actuator 10a, movable body 20 is considered to be equivalent to the mass portion in the vibration model of a spring-mass system. Therefore, if, for example, resonance is sharp (having a steep peak), the steep peak can be suppressed by damping the reciprocating motion. By damping the vibration, the resonance becomes less steep. For example, the maximum amplitude value and maximum movement amount of movable body 20 during resonance do not vary, and vibration output based on an appropriate and stable maximum movement amount is achieved.

[0558] A magnetic flux flow mf is formed. This magnetic flux flow mf is emitted from the back surface 30 b side of the magnet 30 , radiates from the yoke 42 toward the coil 62 side, passes through the outer yoke 70 , and enters the magnet 30 from the yoke 41 on the upper side of the magnet 30 via the coil 61 .

[0559] Therefore, if Figure 40 When current is supplied as shown, the magnetic field of the magnet 30 and the current flowing through the coils 61 and 62 interact with each other, thereby generating a Lorentz force in the −f direction on the coils 61 and 62 according to Fleming's left-hand rule.

[0560] The -f-direction Lorentz force is perpendicular to the direction of the magnetic field and the direction of the current flowing through coils 61 and 62. Since coils 61 and 62 are fixed to fixed body 50 (coil holding portion 52), according to the law of action and reaction, a force opposing the -f-direction Lorentz force is generated as a thrust in the f-direction on movable body 20 having magnet 30. As a result, movable body 20 having magnet 30 moves laterally in the f-direction, that is, toward bottom portion (bottom surface of housing body 13) 134.

[0561] On the other hand, if the current flow direction of coils 61 and 62 is reversed and coils 61 and 62 are energized, a Lorentz force in the opposite direction, f, is generated. Due to the generation of this f-direction Lorentz force, a force opposite to the f-direction Lorentz force is generated on movable body 20 as a thrust (thrust in the -f direction) according to the law of action and reaction, causing movable body 20 to move in the -f direction, i.e., toward the top surface of cover portion 14 of fixed body 50.

[0562] In the actuator 10 a , by moving the movable body 20 only toward the cover 14 or the bottom 134 , the operator can receive so-called tactile or force feedback (also called force feedback) via the output shaft 25 in response to the user's operation.

[0563] Furthermore, current can be alternately supplied to the coils 61 and 62 in opposite directions to cause them to reciprocate or vibrate, and the movable body 20 can be operated by an operator's operation using the current.

[0564] Furthermore, in the actuator 10a, when not powered and not in operation (not vibrating), the magnetic attraction force between the magnet 30 and the outer yoke 70 functions as an operating magnetic spring. The magnetic attraction force generated between the magnet 30 and the outer yoke 70 and the restoring force that tends to restore the elastic support portions 81 and 82 to their original shapes return the movable body 20 to its original position.

[0565] The actuator 10a includes a fixed body 50 having coils 61 and 62, and a movable body 20 disposed radially inward of the coils 61 and 62 and having a magnet 30 magnetized in the axial direction of the coils 61 and 62. Furthermore, the actuator 10a includes flat elastic support portions 81 and 82 that elastically hold the movable body 20 movably in the axial direction of the coils.

[0566] The coils 61 and 62 are arranged on the outer periphery of the holding portion main body 522 of the coil holding portion 52 . The outer peripheral surface 20 a of the movable body 20 is arranged at a distance on the inner peripheral side of the holding portion main body 522 . The outer peripheral surfaces of the coils 61 and 62 are surrounded by the outer yoke 70 .

[0567] This prevents radially outward leakage of magnetic flux in actuator 10a, and allows outer yoke 70, magnet 30, yokes 41 and 42, and coils 61 and 62 to function as a magnetic circuit, thereby enhancing the generation of magnetic thrust. Furthermore, this does not affect the detection of magnetic flux density by magnetic sensor 91 on the bottom surface.

[0568] like Figure 40 As shown, when the movable body 20 moves toward the cover 14 and upward (arrow “moving direction”), the magnet 30 moves away from the magnetic sensor 91 , so that the leakage magnetic flux detected by the magnetic sensor 91 becomes weaker in the lower part of the housing 12 .

[0569] Furthermore, when movable body 20 moves toward bottom portion 134 (arrow "moving direction downward"), magnet 30 approaches magnetic sensor 91, and the leakage magnetic flux detected by magnetic sensor 91 increases. Thus, magnetic sensor 91 can detect the magnetic flux density corresponding to the movement of movable body 20. Based on this detection result, a tactile sensation such as movement, vibration, or impact can be directly imparted via output shaft portion 25.

[0570] Figure 41A as well as Figure 41B is a diagram for explaining sensing by a magnetic sensor. Figure 41A is a diagram showing the relationship between the magnetic flux density detected by the magnetic sensor and the displacement of the magnet. Figure 41B Is to express Figure 41A Schematic diagram of the actual movement of the movable body corresponding to the detection.

[0571] like Figure 41A as well as Figure 41B As shown, if movable body 20, which is structured so as to sandwich magnet 30 between yokes 41 and 42, moves in direction D1, that is, toward lid 14, movable body 20 moves away from magnetic sensor 91, and the magnetic flux density decreases. On the other hand, if movable body 20 moves in direction D2, that is, toward bottom portion 134, and in this case, toward magnetic sensor 91 disposed at the bottom, the detected magnetic flux density increases.

[0572] In this manner, the magnetic sensor 91 can linearly detect the relationship between the magnetic flux density and the displacement of the movable body, and based on this detection, the position of the movable body 20 can be appropriately detected.

[0573] In the actuator 10a, the unit 15 is housed within the housing 12, allowing the outer peripheral surface of the peripheral wall portion 132 of the resin housing 12 to be smooth. This allows for reliable and easy attachment of a cushioning material such as sponge to the mounting location when the actuator 10a is mounted on an electronic device.

[0574] Furthermore, since the actuator 10 a is configured by arranging the unit 15 in the housing 12 , the elastic support portions 81 and 82 , which require high dimensional accuracy, can be fixed by assembling them to the coil holding portion 52 .

[0575] Thus, the arrangement of the fixed movable body 20, including the elastic support portions 81 and 82, can be determined based on the coil holding portion 52, thereby improving the accuracy of the tactile sensation generated in the product. Specifically, for example, simply by improving the dimensional accuracy of the coil holding portion 52, which is formed as a single component from resin or the like, the coils 61 and 62 can be easily positioned with the movable body 20 (magnet 30) attached via the elastic support portions 81 and 82 in an accurate positional relationship.

[0576] Furthermore, the coil holding portion 52 is provided with the terminal portion 75 so as to protrude outward, thereby facilitating bundling and welding of the coil wires, and enabling easy connection between the coils 61 and 62 and an external device.

[0577] As described above, according to the actuator 10a, it is possible to provide a tactile sensation while having impact resistance.

[0578] Actuator 10a is driven by pulses (DC pulses or AC pulses) input to coils 61 and 62. Specifically, the direction of current flow to coils 61 and 62 can be appropriately set to alternately apply a thrust in the -f direction from the top surface 142 of cover 14, a thrust in the f direction from the bottom 134, or both the -f and f directions to movable body 20. This allows movable body 20 to move in either the moving or vibrating direction, providing force feedback via actuator 10a itself or output shaft 25.

[0579] As described above, the actuator 10 a can be easily manufactured at low cost and has a detection function and a tactile feedback function that are easier to use.

[0580] <Driving Principle of Actuator 10a>

[0581] The driving principle of actuator 10a will be briefly described. Actuator 10a is driven by pulses supplied based on the following equation of motion (1) and circuit equation (2). In this embodiment, actuator 10a is driven by inputting short pulses, but it is also possible to drive the actuator 10a in a manner that generates arbitrary reciprocating motion or vibration without using short pulses.

[0582] Furthermore, the movable body 20 in the actuator 10 a performs reciprocating motion based on equations (1) and (2).

[0583] [Mathematical formula 3]

[0584]

[0585] M: mass [kg]

[0586] X(t): displacement [m]

[0587] K f :Thrust constant [N / A]

[0588] i(t): current [A]

[0589] K sp : Spring constant [N / m]

[0590] D: Attenuation coefficient [N / m / s]

[0591] [Formula 4]

[0592]

[0593] e(t): voltage [v]

[0594] R: resistance [R]

[0595] L: Inductance [H]

[0596] Ke: Back electromotive force constant [V / (m / s)]

[0597] The mass m [Kg], displacement x(t) [m], thrust constant K in the actuator 10a f [N / A], current i(t) [A], spring constant K sp [N / m], attenuation coefficient D [N / (m / s)], etc. can be appropriately changed within the range that satisfies equation (1). Furthermore, voltage e(t) [V], resistance R [Ω], inductance L [H], and back electromotive force constant Ke [V / (m / s)] can be appropriately changed within the range that satisfies equation (2).

[0598] In this way, the actuator 10 a is determined by the mass m of the movable body 20 and the spring constant K sp of the metal springs (elastic bodies, leaf springs in this embodiment) serving as the elastic support portions 81 and 82 .

[0599] <Actuator Function 10 (10-1, 10-2, 10-3)>

[0600] The actuator 10 a ( 10 - 1 , 10 - 2 , 10 - 3 ) configured in this manner has the following functions by driving the movable body 20 .

[0601] The movable body 20 is driven to impart vibration stimulation or direct stimulation to the user who operates the operation face, thereby imparting a tactile sensation that directly acts on the force sense.

[0602] Furthermore, the movable body 20 is driven to apply a load to the user operating the operation surface 5 via the operation surface 5 that supplements or compensates for the load (operation load) generated by the user's pressing operation on the movable body 20. Furthermore, a load is applied in the direction opposite to the load to reduce the load applied to the user. This provides the user operating the operation surface 5 with a tactile feel, such as the hardness or softness of the operation portion (operation surface), as an operational feel.

[0603] By driving the movable body 20, vibrations corresponding to the position where the operating face 5 is pressed are repeatedly output in stages to provide the user with tactile prompts, thereby providing the user with a change in the selected function under multi-level tactile sensations as an operational feeling.

[0604] Furthermore, the operation of the operation surface 5 can be facilitated by preventing the operation surface 5 from protruding from the surface 4b. Specifically, the operation surface of the operation input device 1a is designed without any unevenness to prompt the user to operate the operation portion, i.e., a so-called non-signaling design, making it difficult to visually recognize the operation surface.

[0605] In the operation input device 1a having such an operation surface, the position of the operation surface 5, that is, the operation position, is suggested by the movement of the operation surface 5, which is the operation part itself integrated with the movable body 20 of the actuator 10a, so as to suggest the position of the operation part or induce the position.

[0606] Furthermore, the operation input device 1 a can perform an active HMI (Human Machine Interface)-like operation for the user by operating the operation face 5 , which is the operation portion itself integrated with the movable body 20 of the actuator 10 a .

[0607] Furthermore, in this embodiment, the operating portion, which is configured to be freely movable in the direction protruding from the operating surface, does not utilize a power transmission mechanism in conjunction with an actuator (motor), but rather consists solely of the actuator 10a. This simplifies the structure and facilitates assembly of the operation input device 1a. Furthermore, the operating portion can be actuated solely by the actuator, without utilizing the multiple power transmission components that constitute the power transmission mechanism. This allows for highly precise actuation of the operating surface.

[0608] Figure 42 This is a diagram schematically showing the main configuration of an operation input device according to a third embodiment of the present invention.

[0609] Figure 42 The illustrated operation input device 1a includes a plurality of actuators 10a (10-1, 10-2, 10-3) and an AD converter 402. The operation input device 1a also includes a microcomputer 400 as a control unit for controlling the actuators 10a, an actuator driver 430, and a proximity sensor 404.

[0610] As described above, the magnetic sensor 91 included in the actuator 10 a functions to detect the load applied to the movable body via the operation surface 5 , and also functions as feedback for controlling the position of the movable body 20 .

[0611] When the operation surface 5 is operated, an operation load is applied to the actuator 10a, and the operation load is detected by the magnetic sensor 91 based on a change in magnetic flux density. The detected operation load is output to the microcomputer 400 as a control unit via the AD converter 402.

[0612] The proximity sensor 404 detects the presence or absence of an object approaching the operating face 5 and outputs the detection result to the microcomputer 400 serving as the control unit.

[0613] The proximity sensor 404 may be any sensor that detects the approach, separation, or state of an object in a non-contact manner. For example, the proximity sensor 404 may be an electromagnetic induction (high-frequency oscillation) proximity sensor, an electrostatic capacitance proximity sensor, a magnetic proximity sensor, an optical ToF (Time-of-Flight) sensor, or an ultrasonic ToF sensor.

[0614] The proximity sensor 404 is a capacitance sensor that detects changes in capacitance or electrical changes caused by an object approaching or moving away from the operation face 5 , and outputs the detection result (detection value) to the microcomputer 400 via the AD converter 402 .

[0615] The proximity sensor 404 is arranged at a position where it can detect the approach of an object approaching the operation face 5, such as a finger of a user operating the operation face 5. Figure 30 As shown, in the surface of the device housing 2 (the surface 4b of the cover 4), the configuration area 403 around the opening 4a can be configured in any number as long as the number of the configuration areas 403 corresponds to the number of the operation surface 5 in the opening 4a. Figure 42 As shown in the proximity sensor 406, for example, proximity sensors may be provided at a plurality of locations, and the proximity sensor may include an oscillation circuit incorporating detection electrodes that generate an electric field and a detection circuit that detects changes in the oscillation frequency of the oscillation circuit.

[0616] Based on the input information, the microcomputer (control unit) 400 drives the actuator 10a via the actuator driver 430. The microcomputer may be equipped with edge AI, or the operation input device 1a itself may be used to cause the plurality of actuators to perform various operations based on the input information.

[0617] Based on information such as object detection information from the proximity sensor 404, information about the position of the movable body 20 from the magnetic sensor 91, and information about the load applied to the movable body 20, the microcomputer 400 drives the actuator 10a via the actuator driver to move the operating surface 5. For example, by driving the actuator 10a, the microcomputer 400 presents the user with the tactile feel of the operating surface 5 (hardness, softness, for example, a tingling sensation), the click sensation of multi-level operation, and the position of the operating surface, as described above. Furthermore, the microcomputer 400 digitally converts the analog voltage from the proximity sensor 404 using, for example, an ADC (analog-to-digital conversion circuit), determines the position indicated by this information, and selects and generates a drive pattern based on this position. The microcomputer 400 outputs instructions and drive signals for driving in the selected and generated drive pattern to the circuit board (control unit) 92 and the actuator driver 430, thereby causing the movable body 20 to move.

[0618] The microcomputer 400 can drive the actuator and perform active suggestive expression and sensory expression based on the information from the proximity sensor 404 and the magnetic sensor 91, that is, based on the information indicating the user's situation, by observing, recognizing, and judging the information.

[0619] Here, in the operation input device 1 a , driving of the actuator 10 a based on the detection information of the object from the proximity sensor 404 will be described.

[0620] For example, when the user approaches the operation face 5 with a finger to operate, the actuator 10 a protrudes or retracts, thereby facilitating the user's operation via the operation face 5 .

[0621] The microcomputer 400 may have a plurality of drive modes for the actuator 10 a based on the detection information from the proximity sensor 404 .

[0622] Specifically, when the operation surface 5 is flush with the surface 4b of the housing 2 (cover 4), if a user's finger approaches as an object, the operation surface 5 is protruded, as if it were an object approaching to operate the operation surface 5, and its position is confirmed. For example, if a user's finger (object) approaches the operation surface 5, the operation input device 1a may cause the entire operation surface 5 to protrude. Alternatively, the operation input device 1a may drive an actuator proximate to the proximity sensor 404 that detects the proximity of an object, causing the operation surface 5 closest to the finger to protrude, confirming its position, and enabling operation.

[0623] Furthermore, the microcomputer 400 has a plurality of operation modes for driving the actuator 10 a in accordance with the finger operation on the operation surface 5 when the user operates the operation surface 5 with a finger.

[0624] Specifically, the microcomputer 400 drives the actuator 10 a via the actuator driver 430 , thereby outputting vibration, force, and displacement, and directly providing an operational feeling to the user via the operating unit.

[0625] The microcomputer 400 can feed back the load detected by the magnetic sensor 91 , that is, the tactile sensation corresponding to the load input to the actuator 10 a , to the user who operates the operation surface 5 of the actuator 10 a .

[0626] The microcomputer 400 drives the actuator 10a in various motion patterns, thereby applying vibrations when the user presses or releases the operation surface 5, and further applying different vibrations when the operation surface 5 is pushed in. These actions are also called vibration feedback, and different vibrations can be applied to each operation surface 5-1 or 5-2.

[0627] Figure 43 This is a diagram schematically showing a main configuration of a modified example of the operation input device 1 a without a proximity sensor.

[0628] Figure 43 The operation input device 100a is in Figure 42 The illustrated structure of the operation input device 1a lacks a proximity sensor 404. Regardless of the presence or absence of a proximity sensor, the operation input device 100a, like the operation input device 1a, drives the operating portion in an action pattern corresponding to a user's push operation. Similar to the operation input device 1a, the microcomputer 400 of the operation input device 100a uses the magnetic sensor 91 to detect the user's pressing of the operating face 5 (a push operation) and drives the movable body 20 in an action pattern corresponding to the operation, imparting a tactile sensation corresponding to the push operation as an operational feel.

[0629] The operation input device 1a, 100a (specifically, the microcomputer 400) supplies current according to the stroke of the movable body 20 detected by the magnetic sensor 91 such as the Hall sensor, drives the movable body 20, and controls the reaction force or thrust on the movable body 20 (operation face 5).

[0630] Figure 44 This is a diagram showing an example of the motion control of the actuator, and is an F-S curve showing the relationship between the displacement [mm] of the movable body of the actuator and the load [N] of the movable body. Figure 44 , an example of the tactile feeling of the proportional current input (graphs L1 to L5 ) corresponding to the FS curve is shown.

[0631] The actuator 10a is, for example, designed to meet the requirements of Figure 44The relationship between the input currents shown is set so that a reaction force (or thrust) is imparted to the movable body 20 (the pushed operating surface 5), causing it to displace. For example, if graph L1 represents the input current for a normal tactile sensation, then based on this, the actuator 10a is controlled to be driven in a manner that produces graphs L2 and L3, imparting a reaction force opposite to the direction of the operation (gain adjustment). Alternatively, if the graphs L4 and L5 are used, the actuator is driven to impart a thrust that follows the direction of the operation. This results in the actuator 10a imparting a firm tactile sensation to the user, as indicated by graphs L4 and L5. The microcomputer 400 varies the current according to the amount of operation (stroke) to satisfy the relationships shown in graphs L1 to L5, thereby varying the hardness or softness of the operating surface (operating portion) 5, which imparts the tactile sensation. In other words, by supplying a current that varies according to the amount of user operation, the actuator 10a can operate the movable body 20 and alter the hardness or softness of the tactile sensation imparted to the user.

[0632] By applying the thrust in this manner, for example, the actuators 10a (10-1 to 10-3) connected to the operation surface portions 5-1 to 5-3 are driven, thereby providing a tactile sensation to the user.

[0633] FIG. 45 is a diagram showing an example of an operation pattern of an actuator, and more specifically, a diagram showing an overview of a tactile sensation expressed by the operation of the actuator when the user operates the operation face. Figure 45A The stroke of the movable body 20 corresponding to the amount of pushing of the button from the top position Z0 to returning to the initial position 0 is shown. Figure 45B Indicates the basis and the Figure 45A The relationship between the force (here, reaction force: Force) generated by the stroke (Stroke) corresponding to the pushing amount of the actuator and the action pattern of the actuator. Figure 45C Represents Figure 45B The relationship between the stroke and the input current corresponding to the reaction force is shown.

[0634] Figure 45 shows two operating modes where the input current height varies depending on the length of the strokes k1 and k2. The dotted-line mode has a deeper tactile feel than the solid-line mode, indicating a low click rate. The click rate is an indicator of switch buckling. It is calculated using the point at which the switch buckles and the reaction force at which the reaction force is minimized when the switch is pushed further in. This indicates the degree of force applied to the user during buckling.

[0635] As shown in FIG. 45 , the actuator 10 a varies the bias current (input current) supplied to the coil according to the amount of push (operation amount) of the movable body 20 caused by the user pressing the operation face 5 .

[0636] For example, the actuator 10a applies a reaction force or thrust to the movable body 20 based on the amount of displacement of the movable body 20, using a supplied bias current. Furthermore, the actuator 10 controls the drive of the movable body 20 by reducing the supplied bias current or reversing the bias current when the bias current exceeds a threshold. Specifically, the actuator 10a can variably set the bias current based on the amount of manipulation of the manipulation surface 5, making it possible to adjust the operational feel when manipulating the manipulation surface 5 to suit the user's preferences.

[0637] In this way, actuator 10a adjusts the bias current according to the user's operation amount, thereby operating movable body 20 and applying a reaction force to the movable body. When the current exceeds a threshold, the current is reduced or the current flows in the opposite direction, which can produce a buckling sensation for the user. In this way, the operation input device 1a can adjust the current supplied to coils 61 and 62, changing the hardness, softness, buckling, and other aspects of the operational feel, thereby providing a more superior operational feel.

[0638] FIG. 46 is a diagram showing an example of an operation pattern of the operation input device 1 a , specifically, a diagram showing an example of a waveform for expressing an explanation of a switch in the operation control of the actuator. Figure 46A This is a graph showing the relationship between the force (Force) corresponding to the stroke (Stroke) of the movable body 20 being pushed in, and is the so-called F-S curve. The F-S curve shows the working force, reaction force, click rate, etc. of the operating surface (movable body) that determines the tactile feel of the switch. In addition, Figure 46B This represents the relationship between the stroke of the pushed movable body 20 and the tactile sensation (specifically, the input current when an upward force (a reaction force that becomes a reaction force) is applied, that is, FFB (force feedback). Furthermore, the click rate can be said to be the ratio of the working force acting on the pushing finger to the pushing force.

[0639] exist Figure 46A as well as Figure 46B In the embodiment of the present invention, when the operation surface 5 is pushed, the operation surface 5 moves downward (stroke) while receiving the reaction force of the elastic support parts 81 and 82. In other words, when the user presses the operation surface 5, they only receive the reaction force (force opposite to the pushing direction) of the elastic support parts (e.g., leaf springs) 81 and 82 as a tactile sensation.

[0640] Next, when the user pushes the operating surface 5 while receiving the reaction force from the elastic support portions 81 and 82, causing the operating surface 5 to reach a predetermined stroke position, the microcomputer 400 turns on a positive current and begins supplying power to the actuator 10a (coil). This increases the reaction force to the user's pushing force, giving the user the tactile sensation of pressing a button.

[0641] In this way, the microcomputer 400 changes the current according to the operation amount (stroke), applies a force to the operation surface 5 while increasing the force (reaction force: gain adjustment), and reduces the current ("+ current off") or even flows in the reverse direction (at the stage where the set value (threshold) k11 is exceeded. Figure 46B The switch input can be recognized as a tactile sensation by the tactile sensation of buckling.

[0642] FIG47 is a diagram showing an example of an operation pattern when a switch is expressed in the operation control of the actuator, and is used to explain the switch expression based on the switch expression of FIG46. Figure 47A 、 Figure 47C 、 Figure 47E The vertical axis corresponds to the load, and the horizontal axis corresponds to the amount of movement in the "F-S curve". Figure 47A 、 47B This chart shows the relationship between force (reaction force or thrust: Force [N]), push distance (stroke [mm]), and input current (Current) for a switch exhibiting a low click rate. Figure 47C 、 Figure 47D Indicates the relationship between the force (reaction force or thrust: Force [N]) and the push amount, and the input current (Current) and the push amount (stroke [mm]) in the case of a switch with a high click rate. Figure 47E 、 Figure 47F The relationship between the pushing force and the pushing amount, and the input current and the pushing amount, when expressing a two-step click is shown. Thus, when the switch expresses a low click rate compared to when expressing a high click rate, the actuator 10a is controlled so that the pushing depth is imparted as a tactile sensation.

[0643] exist Figure 47E 、 Figure 47F In this example, the upward reaction force is generated at two predetermined locations during the stroke, reducing or interrupting the positive current and allowing the negative current to flow, thereby increasing the thrust. This increased thrust is then converted to a reaction force at the predetermined pushed-in position, providing a double tactile sensation and achieving a two-stage switch feel. While two stages are used here, the pushed movable body 20 can also be controlled to generate reaction and thrust forces at multiple set positions, providing three or more stages of tactile sensation, thus achieving a multi-stage switch performance.

[0644] In this manner, the actuator 10 a operates the movable body 20 in multiple stages in the moving direction according to the operation amount of the movable body 20 based on the user's operation, thereby providing the user with an operational feeling.

[0645] The switches in FIG47 perform the same actions as those in FIG46 . When the movable body 20 pushed in reaches a predetermined stroke (set value), the current is disconnected or a reaction force (force adjusted by gain) is generated, thereby appropriately producing a click feeling or a switch feeling.

[0646] Such as these Figure 15-4 As shown in FIG. 7 , the operation input device 1 a (specifically, the microcomputer 400 ) drives the actuator 10 a and is represented as a switch that generates vibration feedback or force feedback.

[0647] <An example of an operation using an operation mode: Vibration feedback (FB)>

[0648] Figure 48 1 is a flowchart showing an example of an operation mode of an operation input device, showing control of an operation of providing vibration feedback to a user according to an operation.

[0649] like Figure 48 As shown, in step S111, when the circuit power is turned on, the proximity sensor 404, magnetic sensor 91, and other sensors are reset to zero. Next, in step S113, the microcomputer 400 monitors the pressing of a button via the magnetic sensor 91. If the button is pressed, in step S115, the microcomputer 400 detects the position information of the movable body 20 via the magnetic sensor 91. Specifically, in step S115, the microcomputer 400 detects the pressed state (pushed position) of the movable body 20, that is, the position of the operated button (operation surface 5), by detecting the position of the movable body 20 using the magnetic sensor 91.

[0650] Next, in step S117, the microcomputer 400 determines whether the position (stroke) of the movable body 20 has reached a set threshold (depth from the starting position of the push). In step S117, the microcomputer 400 determines whether the displacement of the operating surface 5 (the displacement of the movable body 20 due to the push) has reached a predetermined amount (predetermined length of movement). Furthermore, during this determination in step S117, a threshold is set that includes a dead zone to prevent malfunctions such as vibrations before reaching the predetermined position. Furthermore, the threshold is set to provide an operational feel that is appropriate for producing a tactile sensation.

[0651] In step S117, if the position of the movable body 20 displaced by the operation reaches the predetermined position, that is, if the operation face 5 is pressed by a predetermined length, the process proceeds to step S119. In step S119, the microcomputer 400 drives the actuator 10a via the actuator driver 430 to perform a predetermined action (for example, to generate a predetermined signal). Figure 44 to Figure 4 The switch shown in 6 exhibits the vibration set as above).

[0652] Next, in step S121, the microcomputer 400 determines whether the button (operation face 5) has been operated via the magnetic sensor 91. If no operation has been performed (if the button has been "released"), the process proceeds to step S123. In step S123, the microcomputer 400 detects the position where the button is no longer pushed in (the "released" position of the button), and the process proceeds to step S125.

[0653] On the other hand, if the button is pushed in step S121 , the process proceeds to step S124 , where the microcomputer 400 detects the position of the movable body 20 , that is, the pushed position of the operation surface 5 , using the magnetic sensor 91 , and then proceeds to step S133 .

[0654] In step S133, the microcomputer 400 determines whether the pushed position of the button is above the set threshold (step S133). If the microcomputer 400 determines in step S133 that the pushed position is above the set threshold, the microcomputer 400 generates the action pattern set for the operation, such as vibration, in step S135. If the pushed position is not above the set threshold, the microcomputer 400 returns to step S121 and repeats the process.

[0655] In step S125 , the microcomputer 400 determines whether the position where the button disappears after being pushed has reached a set threshold. If so, the process proceeds to step S127 . If not, the process returns to step S121 and repeats the process.

[0656] That is, in step S125, if the button operation is released, and if the push amount at the time of release reaches the set push amount (threshold), the process moves to step S127. In step S127, the microcomputer 400 generates vibration using the set vibration operation mode, and the finger receiving the vibration as the tactile sensation releases the button (step S129).

[0657] In this manner, when the user pushes the operation surface 5 to perform an operation, the microcomputer 400 , that is, the operation input device 1 a , feeds back vibration corresponding to the operation to the user.

[0658] <An example of an action using the action mode: Force Feedback (FFB)>

[0659] Figure 49 This is a flowchart showing an example of an operation mode using the operation input device, and more specifically, shows the processing of a force feedback operation as an example of a process of providing a tactile sensation to assist the user's operation on the operation surface 5 .

[0660] like Figure 49As shown, in step S141, when the circuit power is turned on, the proximity sensor 404, magnetic sensor 91, and other sensors are reset to zero. Next, in step S143, the microcomputer 400 monitors the pressing of a button via the magnetic sensor 91. If the button is pressed, in step S145, the microcomputer 400 detects the position information of the movable body 20 via the magnetic sensor 91. Specifically, in step S145, the microcomputer 400 detects the position of the movable body 20 using the magnetic sensor 91, thereby detecting the state of the movable body 20 being operated, that is, the pressed state (pushed position) of the operating face 5.

[0661] Next, in step S147, the microcomputer 400 determines whether the position of the movable body 20 has reached the predetermined position, that is, whether the detected position has reached a set position (threshold value). Specifically, in step S147, the microcomputer 400 determines whether the displacement of the operating face 5 (the displacement of the movable body 20 caused by the pressure) has reached a predetermined amount (the predetermined length of movement). In step S147, if the position of the movable body 20 has reached the predetermined position, that is, if the operating face 5 has been pressed by the predetermined length, the process proceeds to step S149. The threshold value in step S147 is the same as that in step S117 and is set to include a dead zone to prevent malfunctions such as vibration without reaching the predetermined position.

[0662] In step S149 , the microcomputer 400 calculates the driving voltage of the actuator 10 a , that is, sets the driving force for the operation of the actuator (specifically, assist or brake in response to the user's operation), and then proceeds to step S151 .

[0663] In step S151, the microcomputer 400 drives the actuator via the actuator driver 430 to generate a driving force such as assist (thrust) or braking (reaction force). This causes the movable body 20 to move, imparting a tactile sensation that stimulates the user's force sense via the operation face 5, and the process returns to step S145 to repeat.

[0664] In step S147 , if the position (displacement) of movable body 20 has not reached the set threshold value, the process proceeds to step S153 , where microcomputer 400 stops the actuator 10 from generating the driving force, and the process proceeds to step S155 .

[0665] In step S155 , the microcomputer 400 detects whether the user's finger has left the button based on the input information from the magnetic sensor 91 . If not, the process returns to step S145 and repeats the process. If not, the process ends.

[0666] Motion control in an example of an action mode: A single-stage switch with a transform function.

[0667] Figure 50 This is a flowchart illustrating an example of an operation mode of an operation input device using Embodiment 3 of the present invention. Specifically, it illustrates the operation process of providing a primary tactile switch representation with a deformation function. Furthermore, the operation surface 5 serving as the operation portion of the operation input device 1a will hereinafter be referred to as a button, and the portion having the operation surface 5 will be referred to as a switch.

[0668] like Figure 50 As shown, in step S161, first, when the circuit power is turned on, the operation input device 1a is driven, and the proximity sensor 404 and the magnetic sensor 91 are reset to zero. Fig. 51 shows an example of the operation input device 1a in this state. Figure 51A as well as Figure 51B This is a diagram showing an example of the operation of the operation input device according to the third embodiment of the present invention.

[0669] like Figure 51A As shown, in order to operate the operation surface 5 (5-1) of the switch portion of the operation input device 1a, the user's finger approaches the operation surface 5. Then, in step S163, the proximity sensor 404 detects the approach of the finger to the switch and outputs the detection information to the microcomputer 400 (refer to Figure 42 In step S163, the microcomputer 400 (refer to Figure 42 ) detects the approach of the finger via the proximity sensor 404 and transfers to step S165.

[0670] In step S165, the microcomputer 400 drives the actuator 10a to displace the operation surface 5 (the movable body 20 as well). That is, the operation surface 5 (the movable body 20 as well) is displaced to indicate an operation to the operation surface 5 itself, for example, to move the operation surface 5 upward to protrude, that is, to a hovering state ("hover on") (see FIG. Figure 41B Thus, in the switch having the operating face 5, the operating face 5 itself protrudes from the surface 4b and is displaced (deformed), thereby presenting the operating position of the operating face 5 to the user or facilitating an operation using the operating face 5.

[0671] Furthermore, the microcomputer 400 places the operation surface 5 in a state in which user operations are possible. The operation surface 5 being placed in a state in which user operations are possible means that the microcomputer 400 can operate the actuator 10a in a plurality of operation modes in order to provide a tactile sensation corresponding to an operation on the operation surface 5 directly connected to the actuator 10a.

[0672] Figure 41BThis state is indicated by the user's finger approaching the operation face 5. Specifically, when the user's finger approaches the operation face 5, the entire operation face 5, which serves as the operating unit of the operation input device 1a, rises. This makes the operation face 5 easy to see and operate. The displacement or movement of the operation face 5 allows the user to see and confirm the position of the operation face 5, and facilitates operation of the operation face 5.

[0673] In addition, in this embodiment, the microcomputer 400 is configured to drive the actuator 10a ( Figure 34 10-1, 10-2, 10-3) as shown in Figure 41B As shown, the operation surface 5 emits light when it is raised, that is, when it is hovering.

[0674] Specifically, light-emitting devices such as LEDs are provided on or near the operation surface 5. These light-emitting devices are driven and controlled by the microcomputer 400 so as to emit light in response to the movement of the movable body 20. Thus, the light emission allows the position of the operation surface 5 or the operation being performed to be visually confirmed, and can encourage the user to operate using the operation surface 5. Furthermore, each time the operation surfaces 5-1, 5-2, and 5-3 are pressed, they can be switched on and off as switches, and in this case, the light-emitting devices can also be controlled to light up and off.

[0675] Furthermore, as shown in FIG41C , if the user presses the operation face 5 (5-1) that is in a hovering state, in step S167, the magnetic sensor 91 detects the position of the movable body 20 based on the operation of the operation face 5. Specifically, in step S167, the magnetic sensor 91 detects the displacement of the movable body 20, that is, the load applied to the movable body 20 by the pushing action of the button (operation face 5), and transmits the detected information to the microcomputer 400.

[0676] In step S169, microcomputer 400 determines whether the numerical value corresponding to the position of movable body 20 has reached a set threshold value corresponding to the set position. This process is repeated until the set threshold value is reached. If the set threshold value is reached, the process proceeds to step S171. Furthermore, this set threshold value includes a dead zone, and since the threshold value is the value after removing the dead zone, it is set higher than the correct, regular set value.

[0677] In step S171, as a switch operation, the microcomputer 400 not only provides the tactile sensation of pressing in the pressing direction when the operation surface 5 is pressed, but also provides the tactile sensation of further pressing. In other words, in step S171, the microcomputer 400 does not apply a force in the opposite direction of the user's pressing to the movable body 20 via the actuator 10, but instead operates to provide a tactile sensation that follows the user's operation ("following actuator drive off").

[0678] Next, in step S173 , the microcomputer 400 detects the release of the pressed state of the operation surface 5 serving as a button via the magnetic sensor 91 . In step S175 , the microcomputer 400 obtains the released position via the magnetic sensor 91 and proceeds to step S177 .

[0679] In step S177, the microcomputer 400 determines whether the value indicating the button release position (more specifically, the pressed state release) is below a set threshold value. If so, the process proceeds to step S179. If not, the process returns to step S175 and repeats the process.

[0680] In step S179, the microcomputer 400 drives the actuator 10a with a predetermined motion, and imparts this motion to the user's finger via the operation surface 5, which functions as a button. The predetermined motion in step S179, for example, applies force feedback drive ("actuator drive on / gain adjustment"), that is, a load in the opposite direction to the pressing force (gain adjustment), to the operation surface 5, thereby moving the operation surface 5.

[0681] Thus, when the user stops pressing the button or releases the finger from the button, a tactile sensation is imparted as if the button has been released from the pressed state. Next, in step S181, the microcomputer 400 detects, based on the detection information input from the magnetic sensor 91 and the proximity sensor 404, that the finger has been released from the button (operation face 5) but is located near the operation input device 1a (operation face 5).

[0682] Next, in step S183, if the microcomputer 400 detects the finger has been released via the proximity sensor 404, the process proceeds to step S185. In step S185, the microcomputer 400 drives the actuator via the actuator driver 430 to disengage the hovering state, that is, to release the protruding state of the operation surface 5. This causes the surface 4b of the housing 2 of the operation input device 1a to become flat.

[0683] Thus, in the operation input device 1a of this embodiment, for example, when the operation surface 5 serving as the operation portion is used as a switch, the user can move the operation surface 5 itself to confirm its position when the user wishes to operate the operation surface 5 in a seamless design. Furthermore, the user can be facilitated to operate by making the operation surface 5 itself movable.

[0684] When the operation surface 5 is operated, the actuator 10a is driven in various set motion patterns to drive the movable body 20 (vibrate, displace), and the tactile sensation corresponding to the operation can be expressed and imparted by the hand.

[0685] An example of an action using action patterns: Multi-stage switch expression with a transform function.

[0686] Figure 52 This is a flowchart showing an example of the operation of the actuator, and shows a case where a multi-stage (for example, three-stage) switch is expressed.

[0687] like Figure 52 As shown, in step S291, first, when the circuit power is turned on, the operation input device 1a is driven, and the proximity sensor 404 and the magnetic sensor 91 are reset to zero. If a finger approaches the operation face 5 of the operation input device 1a, which functions as a switch, in order to operate the operation face 5, in step S293, the proximity sensor 404 detects the finger's approach to the switch and outputs the detection information to the microcomputer 400. In step S293, the microcomputer 400 detects the finger's approach and then moves to step S295.

[0688] In step S295, the microcomputer 400 drives the actuator 10a to displace the operation face 5 (and the movable body 20) to a position suggesting an operation, or to a state where the operation face 5 is moved upward and protruded, i.e., a hovering state ("hover on"). Specifically, the operation face 5 is displaced (deformed) by protruding from the surface 4b, thereby indicating the operation position of the operation face 5 to the user or facilitating an operation using the operation face 5.

[0689] Furthermore, the microcomputer 400 places the operation surface 5 in a state in which user operations are possible. Furthermore, the state in which the operation surface 5 is in which user operations are possible is a state in which the actuator 10a is operable in a plurality of operation modes in order to provide a corresponding tactile sensation when the operation surface 5, which is directly connected to the actuator 10a, is operated by the microcomputer 400.

[0690] Thus, in step S295, the microcomputer 400 and the step S165 (refer to Figure 50 ) is processed in the same way as in the above. If the user's finger approaches the operating face 5, the operating face 5 itself, which is the operating part of the operation input device 1a, is moved (raised). By the operation face 5 moving (raising), the operation face 5 is easily identified, and the operation itself is promoted. In addition, a light-emitting body such as an LED can be provided on the operating face 5 itself or near the operating face 5, and driven and controlled by the microcomputer 400 to emit light as the movable body 20 moves. By the light-emitting body emitting light, the position of the operating face 5 and the operation of the operating face 5 can be further identified, and the operation using the operating face 5 can be promoted to the user.

[0691] Next, in step S297, operation surface 5 as a button is pushed in (up to three times), and the process proceeds to step S299. In step S299, magnetic sensor 91 detects the load applied to movable body 20 as the pushing action of movable body 20 due to the operation.

[0692] In step S299, the magnetic sensor 91 detects the displacement of the movable body 20, that is, detects the load applied to the movable body 20 by the pushing action of the button (operation surface 5), and transmits the detected detection information to the microcomputer 400. Based on the detection results from the magnetic sensor 91, the microcomputer 400 detects the position of the movable body 20. At this time, the microcomputer 400 can detect the position of the switch of the number of steps (for example, a predetermined number of three times) represented by the detected position of the movable body 20.

[0693] Next, in step S301, microcomputer 400 determines whether the value corresponding to the position of movable body 20 has reached a set value (threshold), and repeats this process until the set threshold is reached. Specifically, in step S301, it determines whether movable body 20 has been pushed through a predetermined stroke. If, in step S301, movable body 20 has reached the set threshold, the process proceeds to step S303.

[0694] In step S303, the microcomputer 400 causes the actuator 10a to perform a predetermined action. In this process, as a switch action, the microcomputer 400 not only imparts the tactile sensation of pressing in the direction of the pressing operation on the operating surface 5, but also imparts the tactile sensation of further pressing. Specifically, in step S303, the microcomputer 400 does not apply a force opposite to the user's pressing direction to the movable body 20 via the actuator 10a, but instead operates to provide a tactile sensation that follows the user's operation ("follow-up actuator drive off"). This is set based on the action mode (reaction force, stroke) corresponding to the number of times the button is pushed.

[0695] Next, in step S305, the microcomputer 400 determines via the magnetic sensor 91 whether the pressing state of the operating surface 5 as a button has been released. If it has not been released, that is, it is still being pressed by the user (operated), the process returns to step S297. If the microcomputer 400 detects that the button is released in step S305, the process proceeds to step S306.

[0696] In step S306, based on the detection result of magnetic sensor 91, it is determined whether the button has been pushed a predetermined number of times. The process then returns to step S97 and repeats until the stroke position reaches the position corresponding to the predetermined number of times, providing a tactile sensation each time. If, in step S306, the button has been pushed a predetermined number of times, for example, three times, the process proceeds to step S307.

[0697] In step S307 , the microcomputer 400 obtains the releasable position of the button via the magnetic sensor 91 and proceeds to step S309 .

[0698] In step S309, the microcomputer 400 determines whether the value indicating the position at which the button has been released (more specifically, the pressed state has been released) is below a set threshold. If so, the microcomputer 400 determines that the button has been released and moves to step S311. If not, the microcomputer returns to step S307 and repeats the process.

[0699] In step S311, the microcomputer 400 drives the actuator 10a with a predetermined action, and imparts this action to the user's finger via the operating surface 5 serving as a button. The predetermined action in step S311, for example, causes force feedback drive ("actuator drive on / gain adjustment"), that is, a load (gain adjustment) in the opposite direction of pressing is applied to the operating surface 5 to move the operating surface 5. As a result, when the user stops pressing the button or releases the finger from the button, a tactile sensation of releasing the button from the pressed state is imparted. Next, in step S313, the microcomputer 400 detects, based on the detection information input from the magnetic sensor 91 and the proximity sensor 404, that the finger has left the button (operating surface 5) but is located near the operation input device 1a (operating surface 5).

[0700] Next, in step S315, if the microcomputer 400 detects the finger has been removed via the proximity sensor 404, the process proceeds to step S317. In step S317, the microcomputer 400 drives the actuator via the actuator driver 430 to turn the hovering state off, effectively releasing the protruding state of the operation surface 5. This results in the surface 4b of the operation input device 1a becoming flat.

[0701] Thus, in the operation input device 1a of this embodiment, in a seamless design, when the user wants to operate the operation face 5, the operation face 5 itself can be moved to confirm its position. In addition, the movement of the operation face 5 itself can facilitate the user's operation.

[0702] When the operation surface 5 is operated, the actuator 10a is driven in various set operation patterns to drive (vibrate, displace) the movable body 20, thereby expressing and imparting a tactile sensation as an operational feeling corresponding to the operation.

[0703] In this way, according to the operation input device 1a, the position of the operation face 5 can be presented to the user through the operation of the operation face 5 accompanying the operation of the movable body 20, and the operability and operating feel of the operation face 5 can be ensured when operating the operation face 5 while achieving miniaturization.

[0704] <Other actions>

[0705] FIG53 is a diagram showing an example of the operation of the actuator.

[0706] In the operation input device 1a, for example, as an action to promote the operation by the operation face 5 to the user, Figure 53A 、 Figure 53B As shown, the plurality of actuators 10-2 and 10-3 are alternately driven to make the operation faces 5 alternately appear and disappear from the surface of the device housing 2. The speed of appearance and disappearance can also be appropriately set, thereby facilitating the operation for the user. In addition, when the operation is performed by the proximity of the user's finger, the proximity sensor 404 (see Figure 42 ), the microcomputer 400 drives the actuator 10a (10-1 to 10-3).

[0707] (Variation of Embodiment 3)

[0708] As a modified example, the surface of the device housing 2, where the operation panel 5 is located, may be covered with a flexible, stretchable sheet member. Examples of the sheet member include rubber, elastomers, sponge, and cloth. This configuration allows the device to maintain a seamless appearance even when the operation panel 5 is visible or invisible.

[0709] Next, other embodiments of the present invention will be described. These other embodiments are substantially the same as Embodiment 3. Therefore, in these other embodiments, components common to Embodiment 3 are designated with the same reference numerals as in Embodiment 3, and detailed descriptions thereof will be omitted. The description will focus on the differences from Embodiment 3. These other embodiments differ from Modification 1 of Embodiment 3 in the placement of the buffer member 95.

[0710] (Implementation 4)

[0711] Figure 54 This is a longitudinal sectional view showing the main structure of the actuator of the operation input device according to the fourth embodiment of the present invention. In this embodiment, the buffer component 95 is provided on the back operating surface 5a of the operation surface 5. The back operating surface 5a is an example of an opposing portion that is opposed to the top surface 142 of the housing 12 at a position rearward in the pressing direction of the operation surface 5 (above in the movable direction). The details such as the thickness setting of the buffer component 95 are as described in the third embodiment. In this embodiment, the buffer component 95 needs to be assembled during the manufacturing process of the actuator 10a, but in other respects, this embodiment can achieve the same effects as those described in the third embodiment.

[0712] (Implementation 5)

[0713] Figure 55This is a longitudinal sectional view showing the main structure of the actuator of the operation input device according to the fifth embodiment of the present invention. In this embodiment, the buffer component 95 is provided on the bottom 134 of the housing 12. This configuration portion is an example of an opposing portion that is opposed to the movable body 20 (the end face having the flange 284 in the second spring fixing portion 28) at a position forward in the pressing direction of the operation face portion 5 (below the movable direction). The details of the thickness setting of the buffer component 95 are as described in the third embodiment. In this embodiment, the buffer component 95 needs to be assembled during the manufacturing process of the actuator 10a, but in other respects, this embodiment can achieve the same effects as those described in the third embodiment.

[0714] (Implementation 6)

[0715] Figure 56 This is a longitudinal sectional view showing the main structure of the actuator of the operation input device according to the sixth embodiment of the present invention. In this embodiment, the buffer component 95 is provided on the end face having the flange 284 in the second spring fixing portion 28 of the movable body 20. This configuration portion is an example of an opposing portion that is opposed to the fixed body 50 (the bottom 134 of the housing 12) at a position rearward in the pressing direction of the operating face portion 5 (above the movable direction). The details of the thickness setting of the buffer component 95, etc., are as described in the third embodiment. In this embodiment, the buffer component 95 needs to be assembled during the manufacturing process of the actuator 10a, but in other respects, this embodiment can achieve the same effects as those described in the third embodiment.

[0716] (Implementation 7)

[0717] Figure 57 This is a longitudinal sectional view showing the main structure of the actuator of the operation input device according to the seventh embodiment of the present invention. In this embodiment, the buffer component 95 is provided on the inner side surface of the top surface portion 142 in the housing 12 of the fixed body 50. This configuration portion is an example of an opposing portion that is opposed to the movable body 20 (first spring fixing portion 26) at the rear of the pressing direction of the operation surface 5 (above the movable direction). The details of the thickness setting of the buffer component 95, etc., are as described in the third embodiment. In this embodiment, the buffer component 95 needs to be assembled during the manufacturing process of the actuator 10a, but in other respects, this embodiment can achieve the same effects as those described in the third embodiment.

[0718] (Implementation 8)

[0719] Figure 58This is a longitudinal sectional view showing the main structure of the actuator of the operation input device according to the eighth embodiment of the present invention. In this embodiment, the buffer component 95 is provided on the upper surface of the first spring fixing portion 26 of the movable body 20. This configuration portion is an example of an opposing portion that is opposed to the fixed body 50 (the top surface portion 142 of the housing 12) in the front of the pressing direction of the operation surface 5 (below the movable direction). The details of the thickness setting of the buffer component 95 are as described in the third embodiment. In this embodiment, the buffer component 95 needs to be assembled during the manufacturing process of the actuator 10a, but in other respects, this embodiment can achieve the same effects as those described in the third embodiment.

[0720] (Implementation 9)

[0721] Figure 59 This is a longitudinal sectional view showing the main structure of the actuator of the operation input device according to the ninth embodiment of the present invention. In this embodiment, the buffer member 95 is arranged so as to protrude radially inward from the inner circumferential surface 522a on the inner circumferential surface 522a of the retaining portion main body (protective wall portion, cylindrical body) 522 of the coil retaining portion 52 in the fixed body 50 and oppose the movable body 20 (yokes 41, 42). This configuration portion is an example of an opposing portion that opposes the movable body 20 (yokes 41, 42) in the front and rear positions in the pressing direction of the operation face portion 5 (below and above the movable direction). The details of the thickness setting of the buffer member 95 are as described in the third embodiment. In this embodiment, the buffer member 95 needs to be assembled during the manufacturing process of the actuator 10a, but in other respects, this embodiment can achieve the same effects as those described in the third embodiment.

[0722] (Implementation 10)

[0723] use Figures 60 to 62 An actuator 10G according to a tenth embodiment of the present invention will be described.

[0724] Figure 60 is a perspective view of the appearance of an actuator in accordance with a tenth embodiment of the present invention. Figure 61 This is an exploded perspective view of the actuator. Figure 62 It is a longitudinal sectional view showing the main structure of the actuator.

[0725] Actuator 10G can be used in place of the actuator of any of the operation input devices 1, 1a, and 1A of Embodiments 1 to 9. Actuator 10G has the same basic structure as actuators 10, 10a, and 10A to 10F of the respective embodiments, but does not include magnetic sensor 91. Furthermore, components such as movable body 20G, housing 12G, and outer yoke 700 differ from actuators 10, 10a, and 10A to 10F.

[0726] Hereinafter, regarding the actuator 10G, the configuration that is different from the actuators 10 , 10 a , and 10A to 10F will be described in detail, and the same configurations will be assigned the same names and reference numerals, and description thereof will be omitted as appropriate.

[0727] The actuator 10G includes a movable body 20G connected to the operation face 5. Like the actuators 10 and 10A to 10F, the actuator 10G is electromagnetically driven to perform the operation of the movable body 20G, which provides the user with an operational feel via the operation face 5. Also, like the actuators 10 and 10A to 10F, the actuator 10G is electromagnetically driven to perform the operation of the movable body 20G, which presents the user with an operational position for the operation face 5 or facilitates the user's operation.

[0728] Like actuators 10, 10A-10F, actuator 10G is a sensory actuator, transmitting the reciprocating motion of movable body 20G corresponding to the user's contact operation on operating face 5 as the user's operational sense (tactile sensation, force sensation, etc.). Actuator 10G also has other functions similar to those of actuators 10, 10A-10F, facilitating operation of operating face 5 or more reliably indicating the position of operating face 5 to the user by emitting light. Actuator 10G is used as a device for operation detection and operational sense (tactile feedback). Since it has the same functions as actuators 10, 10A-10F, its description will be omitted.

[0729] like Figures 60 to 62 As shown, the actuator 10G, like the actuators 10 and 110A to 10F, houses a movable body 20G in a hollow housing 12G so as to be reciprocable between upper and lower end surfaces with the axial direction (vertical direction) of the housing 12G being the moving direction.

[0730] The housing 12G houses the movable body 20G together with the coils 61 and 62 so that the protruding end of the output shaft 250 protrudes outward. The actuator 10G is held by the bracket 6 (see FIG. 1 ). Figure 5 as well as Figure 34 ) and fixed to the base portion 3, so that it cannot move. The housing 12G can be regarded as an example of a fixed body. The actuator 10G is the same as the actuators 10 and 10a of the first and third embodiments, and can also have a magnetic sensor 91 (see Figures 7-9 、 Figures 36 to 38 ) and has the same effect as described above as produced by the magnetic sensor 91.

[0731] The actuator 10G is connected to the operation surface portion 5 (5-1, 5-2, 5-3) (see Figures 3 to 522 to 24 ) to transmit the movement of the movable body to the operation surface portion 5 ( 5 - 1 , 5 - 2 , 5 - 3 ).

[0732] Actuator 10G includes a magnet 32, a pair of yokes 41, 42, and a pair of spring stoppers 22, 24 on the movable body 20G. A pair of annular coils 61, 62 and an outer yoke 700 are provided on the fixed body 50. Actuator 10G reciprocates movable body 20G in a linear direction through the cooperation of energized coils 61, 62 and magnet 32. Similar to actuators 10 and 110A-10F, a pair of elastic supports 81, 82 are provided between movable body 20G and fixed body 50. These elastic supports 81, 82 support movable body 20G so that it can reciprocate relative to fixed body 50.

[0733] The movable body 20G is movably mounted to the fixed body 50 via the elastic support portions 81 and 82 in the moving direction of the movable body when imparting an operational feel and in the moving direction of the movable body 20G when presenting the operating position of the operating surface 5 ( 5 - 1 , 5 - 2 , 5 - 3 ) or promoting an operation.

[0734] Furthermore, the yokes 41 and 42 , the spring stoppers 22 and 24 , and the coils 61 and 62 may be provided with one or more than one component as long as they can be freely movable in two directions in a straight line or in a single piece.

[0735] Actuator 10G forms a magnetic circuit having the same structure as actuators 10 and 10A to 10F. Similarly, movable body 20G moves when coils 61 and 62 are energized. Movable body 20G can reciprocate in both axial directions or in one axial direction.

[0736] <Movable body 20G>

[0737] The movable body 20G differs from the movable body 20 in that the output shaft portion 250 is inserted through the magnet 32 ​​and has a spring stopper function at one end.

[0738] The movable body 20G includes a movable body fixing portion 27 and an output shaft portion 250 in addition to the magnet 32 ​​and the yokes 41 and 42 .

[0739] Movable body 20G is provided with yokes 41, 42, spring stoppers 22, 24, a movable body fixing portion 27, and a second spring fixing portion 28, respectively, arranged continuously in both directions of the reciprocating motion, centered around magnet 32. Specifically, movable body 20G has yokes 41, 42 stacked on the front and back surfaces 32a, 32b of magnet 32. Elastic support portions 81, 82 are engaged with the spring stoppers 22, 24, one end of which engages with openings 412, 422 of yokes 41, 42, at the other end.

[0740] Furthermore, in movable body 20G, similar to movable body 20, outer peripheral surfaces 20a of magnet 32 ​​and yokes 41 and 42 are positioned on the inner side of inner peripheral surface 522a of retaining portion main body 522, with a predetermined gap therebetween. When movable body 20G reciprocates, outer peripheral surface 20a reciprocates along inner peripheral surface 522a without contacting the inner peripheral surface 522a.

[0741] Magnet 32 ​​is a component with an opening in the center of magnet 30, and its other structures and functions are identical. Magnet 32 ​​is annular with a central opening 32c and is magnetized in the thickness direction, i.e., the direction of reciprocation. The inner diameter of opening 32c is sized to allow the outer diameter of output shaft 250 to pass through. Magnet 32 ​​has front and back faces 32a and 32b separated in the reciprocating direction (thickness direction), each with a different polarity.

[0742] Magnet 32 ​​is arranged radially inward of coils 61 and 62, similar to magnet 30, with a gap therebetween. Output shaft 250 is inserted and fixed to opening 32c of magnet 32, along with yokes 41 and 42. This provides a structure in which the central axis of movable body 20G can be easily aligned with the axes of yokes 41 and 42 simply by inserting output shaft 250 through opening 32c.

[0743] The yokes 41 and 42 are attracted by the magnet 32 ​​and fastened to the magnet 32 ​​, for example, by a thermosetting adhesive such as epoxy resin or an anaerobic adhesive.

[0744] Openings 412 and 422 are provided in the center of each of the yokes 41 and 42, extending therethrough in the axial direction, that is, in the thickness direction. One end portion of the upper and lower spring stoppers 22 and 24 is respectively embedded in the openings 412 and 422. The axes of the openings 412 and 422 are preferably aligned with the centers of the spring stoppers 22 and 24, the elastic support portions 81 and 82, and, in turn, the central axis of the movable body 20G.

[0745] The output shaft portion 250 is inserted into the through-holes 23 of the spring stoppers 22 and 24 and is firmly fixed thereto.

[0746] The joints 222 and 242 are cylindrical bodies arranged on the axis of the movable body 20G and are respectively joined to the yokes 41 and 42. The joints 222 and 242 have one end portion inserted into the openings 412 and 422 of the yokes 41 and 42, respectively, for internal engagement. The spring fixing portions 224 and 244, which are continuous at the other end portion, are separate from the yokes 41 and 42.

[0747] The spring fixing portion 224 is a cylindrical body that protrudes from the engaging portion 222 in the spring stopper 22 toward the other side (upward) and has a larger outer diameter than the engaging portion 222. The spring fixing portion 224 has an engaging surface 2242, which is the front end (upper end) surface thereof, disposed around the output shaft portion 250. The engaging surface 2242 and the movable body fixing portion 27 sandwich the elastic support portion 81.

[0748] The movable body fixing portion 27 is a sleeve (annular member) having a through hole in the center for the output shaft portion 250 to pass through. The movable body fixing portion 27 is inserted onto the output shaft portion 250 and fixed to the output shaft portion while sandwiching the inner circumference 802 of the elastic support portion 81 with the spring stopper 22.

[0749] On the other hand, the spring fixing portion (lower spring fixing portion) 244 of the spring stopper 24 arranged on the opposite side of the spring fixing portion 224 of the first spring stopper 22 with the magnet 32 ​​sandwiched therebetween, together with the shaft flange 254, sandwiches the inner peripheral portion 802 of the lower leaf spring serving as the elastic support portion 82.

[0750] The spring fixing portion 244 has an annular engagement surface 2442 on its other end (axially outward) side. The engagement surface 2442 has an area corresponding to the inner circumference 802, that is, the area of ​​the peripheral edge of the central opening. Furthermore, the edges of the central openings of the spring fixing portion 244 and the spring fixing portion 224 are chamfered, creating a space between them and the output shaft portion 250 that functions as an adhesive reservoir.

[0751] The output shaft portion 250 has the same structure as the output shaft portion 25 and also functions as a movable body fixing portion that fixes the movable body to the elastic support portion 82 at one end portion (a base end portion indicating a lower end in the figure).

[0752] In the output shaft portion 250, the main body portion 252 is arranged to be inserted through the movable body 20G on the axis of the movable body 20G. In addition, the front end portion (one end) of the output shaft portion 250 (the rod-shaped main body portion 252) can move freely forward and backward outside the fixed body 50G, and is fixed orthogonally to the center portion of the back of the operation surface portion 5, having the same functional effects as the output shaft portion 25. The operation input device 1, 1A, 1a, 100, 100a equipped with the actuator 10G can respond at high speed when performing vibration output, displacement output (displacement of the movable body 20G corresponding to the operation), and load detection, and can provide strong feedback. In addition, the corresponding operational feel (tactile sensation) can also be expressed in long-stroke operations.

[0753] The output shaft portion 250 is arranged to be inserted through the movable body 20G on the axis of the movable body 20G, and includes a rod-shaped main body portion 252 and a shaft flange 254 projecting radially outward from a base end portion of the main body portion 252 .

[0754] The output shaft portion 250 (main body portion 252) is inserted through the inner circumference 802, which is the inner diameter end (the other end) of the upper leaf spring serving as the elastic support portion 81, and the inner circumference, which is the inner diameter end of the lower leaf spring serving as the elastic support portion 82. Furthermore, the inner circumference 802 of the elastic support portion 81 is the center portion of the circular leaf spring and is held between the spring fixing portion 224 and the movable body fixing portion 27 while abutting against the engaging surface of the spring fixing portion 224. This allows the spring fixing portion 224 to engage with the elastic support portion 81.

[0755] In the main body portion 252 , the shaft flange 254 is arranged on the base end side so as to sandwich the elastic support portion 82 with the spring stopper 24 .

[0756] The movable body fixing portion 27 fixes the elastic support portion 81 to the movable body 20G. The movable body fixing portion 27 is a sleeve that is externally inserted into the output shaft portion 250 and overlaps with the inner peripheral portion 802 of the elastic support portion 81 in the axial direction.

[0757] The movable body fixing portion 27 fixes the elastic support portion 81 around the axis of the output shaft portion 250 while sandwiching the elastic support portion 81 with the spring stopper 22. The movable body fixing portion 27 joins the movable body 20G so as to be perpendicular to the elastic support portion 81 in the axial direction.

[0758] The shaft flange 254 fixes the leaf spring serving as the elastic support portion 82 to the movable body 20G. The shaft flange 254 is disposed around the output shaft portion 250 to face the spring fixing portion 244 of the spring stopper 24 with the inner peripheral portion 802 of the elastic support portion 82 interposed therebetween.

[0759] The shaft flange 254 has a larger outer diameter than the main body 252 and has a contact surface 2542 of a size facing the spring fixing portion 244 of the spring stopper 24. The contact surface 2542 of the shaft flange abuts against the inner peripheral portion 802 at the other end side of the spring fixing portion 244.

[0760] The shaft flange 254 is connected to a small-diameter portion 256 that is continuous with the base end of the main body 252. The outer diameter of the small-diameter portion 256 is smaller than the outer diameter of the main body 252 and smaller than the inner diameter of the inner circumference 802 of the elastic support portion 82. The small-diameter portion 256 is formed into a concave shape that opens around the shaft. The inner circumference 802 of the elastic support portion 82 is inserted outside the small-diameter portion 256. The small-diameter portion 256 can also engage with the inner circumference 802. By inserting the inner circumference 802 outside the small-diameter portion 256, the small-diameter portion 256 also functions as a positioner for the elastic support portion 82 relative to the output shaft portion 250.

[0761] The small diameter portion 256 is inserted outside the inner peripheral portion 802 , that is, is located inside the inner peripheral portion 802 , and functions as an adhesive reservoir when joining the small diameter portion 256 to the inner peripheral portion 802 , thereby enabling the two to be joined.

[0762] The actuator 10G has through-holes extending in the vibration direction formed in a pair of elastic support members (leaf springs) 81 and 82 that elastically hold the movable body 20G relative to the fixed body 50G, and in the movable body 20G. Specifically, through-holes (openings in the inner circumference 802, openings 412, 422, and 32c) extending in the vibration direction of the movable body 20G are provided in the elastic support members 81 and 82, the pair of spring stoppers 22 and 24 that constitute the movable body 20G, the pair of magnetic yokes 41 and 42, and the magnet 32. The output shaft 250 is inserted through these through-holes to form the axis of the movable body 20G. With this structure, when assembling the movable body 20G, it is possible to manufacture the movable body G with its axis positioned in a stable central position without shaking.

[0763] <Fixed body 50G>

[0764] Similar to the fixed body 50 , the fixed body 50G holds the coils 61 , 62 and supports the movable body 20G movably in the moving direction (the coil axial direction, the axial direction of the movable body 20G) via the elastic support portions 81 , 82 on the radially inner sides of the coils 61 , 62 .

[0765] Compared to fixed body 50, fixed body 50G does not include magnetic sensor 91 or circuit board 92, but includes outer yoke 700 in place of outer yoke 70 and sliding bearing 17. The remaining basic structures are identical. Therefore, identical components are designated by the same names and reference numerals, and their descriptions, along with their functions, are omitted.

[0766] The fixed body 50G has coils 61 and 62 and a coil holding portion 52 for holding the coils 61 and 62 . An outer yoke 700 composed of a plurality of split bodies 710 and 720 is provided on the outer periphery of the coil holding portion 52 , replacing the outer yoke 70 arranged to cover the coils 61 and 62 .

[0767] The outer yoke 700 is a cylindrical magnetic body that is arranged at a position surrounding the outer peripheral surface of the coil holding portion 52 and covering the coils 61 and 62 on the radially outer side.

[0768] The outer yoke 700 has the same function as the outer yoke 70 , such as functioning as a magnetic spring together with the magnet 32 ​​, and achieves the same effects as the outer yoke 70 , such as preventing magnetic flux leakage and improving electromagnetic conversion efficiency.

[0769] The split bodies 710 and 720 are each formed by axially cutting the cylindrical body, each having a semicircular arc (C-shaped) cross-section. This allows for easy installation by clamping the coil holding portion 52 from the radially outer side. Each split body 710 and 720 has a cutout portion. The split bodies 710 and 720 are positioned between the outer peripheries of the flanges 527 and 528, and when encasing the coils 61 and 62 and the central flange 526, the terminal portion 75 is inserted through the cutout portion.

[0770] In addition to the coils 61 and 62, almost all components generating force feedback, such as the movable body 20G and the housing 12G, are also connected to the coil holding portion 52 via the elastic supports 81 and 82. The components are assembled with the coil holding portion 52 as a reference to form the actuator 10G.

[0771] <Housing 12G>

[0772] The housing 12G differs from the housing 12 in the structure of the cover 14G. The housing 12G includes a bottomed cylindrical housing body 13 and the cover 14G that closes an opening 135 of the housing body 13.

[0773] The cover 14G has a cover outer peripheral portion 1422 having a larger outer diameter than the top portion 142G, which is located around the top portion 142G having a central opening 146. A protrusion 144G is provided that protrudes radially outward and downward from a portion of the cover outer peripheral portion 1422. Like protrusion 144, protrusion 144G engages with the notch 122 of the housing body 13.

[0774] The top surface portion 142G is formed with a first recessed portion 1424 around the central opening 146 , and a second recessed portion 1426 formed above the first recessed portion 1424 and having a larger diameter than the first recessed portion 1424 .

[0775] The sliding bearing 17 into which the output shaft portion 250 inserted through the central opening 146 is inserted is disposed in the first recess 1424 , and the sliding bearing 17 is covered by the bearing cover 145 .

[0776] The sliding bearing 17 is annular and is disposed co-centered with the central opening 146 within the first recess 1424. The opening of the sliding bearing 17 is preferably configured to have a diameter substantially the same as the outer shape of the output shaft 250. The output shaft 250 is appropriately inserted and slidably passed through the opening of the sliding bearing 17 in the axial direction of the output shaft 250, thereby accurately and stably guiding the output shaft 250 in the axial direction.

[0777] A cover body 1454 of the bearing cover 145 that covers and fixes the sliding bearing 17 is disposed in the second recess 1426 .

[0778] The bearing cover 145 includes a cover body 1454 that is disposed in the second recess 1426 and closes the first recess 1424 and the second recess 1426 , and an attachment piece 1452 that attaches the cover body 1454 to the top surface 142G.

[0779] The attachment piece 1452 is provided to hang down from the cover body 1454 and is inserted into the slit 147 which is a through hole formed in the axial direction on the circular bottom surface of the second recess 1426 in the top surface 142G.

[0780] Furthermore, slits 147 are formed at equal intervals in the circumferential direction in the peripheral edge portion of second recess 1426. The positions of slits 147 correspond to the positions of mounting pieces 1452 provided on cover body 1454 of bearing cover 145.

[0781] The mounting piece 1452 is inserted into the slit 147 , whereby the bearing cover 145 is mounted on the top surface portion 142G. The bearing cover 145 and the first recess 1424 thereby position and accommodate the sliding bearing 17 .

[0782] The cover 14G has the same structure and functions as the cover 14. Also, like the actuators 10 and 10a, the movable body 20G in the actuator 10G reciprocates based on the above equations (1) and (2).

[0783] In the assembly method of the actuator 10G of this embodiment, first, a pair of yokes 41 and 42 are attached to the two end surfaces 32a and 32b of the magnet 32 ​​in the vibration direction (thickness direction and axial direction) using adhesive. A pair of spring retainers 22 and 24 are fitted into the through-holes of the pair of yokes 41 and 44, forming a subassembly of the movable body 20G. Next, the movable body 20G is positioned within the coil holding portion 52, around which the pair of coils 61 and 62 are wound. Elastic support portions 81 and 82, serving as a pair of leaf springs, are positioned on the outer edges of the coil holding portion 52 at both ends in the vibration direction.

[0784] Next, the front end of the output shaft 250 is passed through the opening of one elastic support portion (elastic support portion 82) and inserted into the interior of the subassembly. Specifically, the output shaft 250 is inserted into the main body of the subassembly from the other end side of the movable body 20G (the spring stopper 24 side), so that the elastic support portion (leaf spring) 82 on the other end side abuts the shaft flange 254 on the base end side of the output shaft 250.

[0785] Next, the movable body fixing portion (sleeve) 27 is inserted from one end side to the other end side of the output shaft portion 250 protruding from one end side (elastic support portion 81 side) of the movable body 20G subassembly, so as to abut against the elastic support portion (leaf spring) 81 on the one end side. This causes the movable body fixing portion 27 and the spring stopper 22 to sandwich the elastic support portion 81. Then, adhesive is applied between the movable body fixing portion 27 and the output shaft portion 250, fastening them together, thereby assembling the movable body 20G to the coil holding portion 52.

[0786] Furthermore, in this manner, the coil holding portion 52 that houses the movable body 20G is housed in the housing 12G.

[0787] In the assembly method of the cover 14G in the housing 12G, first, the sliding bearing 17 is inserted into the first recess 1424 of the cover 14G. Next, the mounting piece 1452 of the bearing cover 145 is inserted into the slit 147 of the top plate 142G of the cover 14G, and the cover body 1454 of the bearing cover 145 closes the open side of the second recess 1426. The mounting piece 1452, which protrudes inward from the cover 14G, is then bent behind the top surface 142G, and the bearing cover 145 is attached to the cover 14G, thereby assembling the cover 14G.

[0788] Inside the housing body 12G, the coil holding portion 52 housing the movable body 20G is arranged via the elastic supports 81 and 82. Furthermore, the distal end of the output shaft 250 protruding from the open end (opening) of the housing body 12G is inserted into the through-hole of the cover 14G, closing the open end (opening) of the housing body 12G. The operating surface 5 is then inserted into the portion of the output shaft 250 protruding from the cover 14G, completing the process.

[0789] The above describes the embodiments of the present invention. However, the above descriptions are merely illustrative of the best embodiments of the present invention, and the scope of the present invention is not limited thereto. Specifically, the descriptions of the structure and shapes of the various components of the above-described device are merely examples, and it is understood that various modifications and additions to these examples are possible within the scope of the present invention.

[0790] The disclosures of Japanese Patent Application No. 2023-012967 filed on January 31, 2023 and Japanese Patent Application No. 2023-101730 filed on June 21, 2023 including the specifications, drawings, and abstracts are incorporated herein by reference in their entirety.

[0791] Industrial applicability

[0792] The operation input device of the present invention has the effects of being able to present the position of the operation portion, ensuring the operability and operational feel of the operation portion during operation, and being miniaturized, and is useful as a switch or a tactile presentation device.

[0793] Explanation of symbols

[0794] 1. 1A, 1a, 100, 100a—operation input device, 2—device housing, 3—base portion, 3a—through hole, 4—cover portion, 4a—opening portion, 4b—surface, 5. 5-1, 5-2, 5-3—operation surface portion (operation portion, surface portion), 6—bracket, 6a—split body, 6b, 6c, 7—fixed member, 8—flexible member (elastic surface portion), 10. 10a, 10-1, 10-2, 10-3, 10A, 10B, 10C, 10D, 10E, 10F—actuator, 12. 12G—housing, 13—housing body, 14. 14G—cover portion, 15—unit, 17—sliding Bearing, 20, 20G—movable body, 20a—outer peripheral surface, 22, 24—spring stopper, 23—through hole, 25, 250—output shaft portion (protrusion), 26—first spring fixing portion, 27—movable body fixing portion, 28—second spring fixing portion, 30, 32—magnet, 30a, 32a—surface, 30b, 32b—back surface, 41, 42—yoke, 50, 50G—fixed body, 52—coil holding portion, 52b, 52c—coil mounting portion, 54—movable range forming portion, 61, 62—coil (annular coil), 70, 700—outer yoke, 75—terminal portion, 81, 82—elastic support Part (leaf spring), 91-magnetic sensor, 92-circuit board (control part), 94-user action detection part (action detection part), 95-buffer component, 122-cutout part, 132-peripheral wall part, 134-bottom part (bottom surface of housing body), 135-opening part, 138-step part, 142, 142G-top part, 144, 144G-protrusion part, 145-bearing cover, 146-central opening, 147-slit, 148-pressing part, 222, 242-joining part, 252-main body part, 254-shaft flange, 256-small diameter part, 224, 244-spring fixing part, 282-insertion part, 2 84—flange, 400—microcomputer (control unit), 402—AD converter, 403—configuration area, 404, 406—proximity sensor, 412, 422—opening portion, 430—actuator driver, 522—holding portion main body (protective wall portion, cylindrical body), 522a—inner peripheral surface, 526—central flange portion, 527, 528—flange portion, 527a, 528a—end surface, 710, 720—split body, 802—inner peripheral portion, 804—deformation arm portion, 806—outer peripheral fixing portion, 1424—first recess, 1426—second recess, 1452—mounting piece portion, 1454—cover main body.

Claims

1. An operation input device, characterized in that: have: an operating unit operated by a user; and The actuator includes a movable body connected to the operating portion, and is electromagnetically driven to perform operations of the movable body to provide the user with an operational feel and to present the user with an operational position of the operating portion or to facilitate operation.

2. The operation input device according to claim 1, wherein The actuator elastically supports the movable body so as to be movable in a moving direction of the movable body when imparting an operational feeling and in a moving direction of the movable body when presenting an operation position of the operating portion or performing an expedited operation.

3. The operation input device according to claim 2, wherein: The operating portion has a surface portion that is freely arranged relative to the housing. The moving direction of the movable body when imparting an operational feeling and the moving direction of the movable body when performing an operation position presentation or promotion operation of the operating portion coincide with the direction in which the surface portion appears and disappears.

4. The operation input device according to claim 1, wherein The actuator operates to move the movable body when providing an operational feeling, and operates to displace the movable body when performing an operation position presentation or facilitation operation of the operating portion.

5. The operation input device according to claim 2, wherein: The actuator includes a fixed body on which the movable body is movably mounted in the moving direction of the movable body when the operating feeling is imparted via the elastic support portion and in the moving direction of the movable body when the operating position of the operating portion is presented or the operation is promoted. The elastic support part is a leaf spring. The movable body includes a disk-shaped magnet, a pair of disk-shaped yokes fixed to the front and back surfaces of the magnet, a pair of spring stoppers connected at one end to the yokes and at the other end to the center of the circular leaf spring, and a protrusion protruding from the other end of one of the pair of spring stoppers in the axial direction of the magnet and connected to the operating portion. The fixed body includes a coil disposed on the outer periphery of the movable body, and a housing that accommodates the movable body together with the coil so that the protruding end of the protruding portion protrudes outward, and supports the movable body movably in the axial direction of the magnet via the leaf spring.

6. The operation input device according to claim 3, wherein: The surface portion is configured to be able to appear and disappear freely from the surface of the housing. A deformable elastic surface portion is disposed on the surface of the housing so as to cover the operating portion. The operating portion can freely lift up the elastic planar portion from the rear surface or freely press down the elastic planar portion from the front surface by the operation of the movable body.

7. The operation input device according to claim 3, wherein: The surface portion is configured to be able to appear and disappear freely from the surface of the housing. The actuator is disposed so as to be movable in a direction perpendicular to the surface of the housing so as to move the surface portion perpendicularly relative to the surface of the housing.

8. The operation input device according to claim 1, wherein The actuator includes an operation amount detection unit that detects a movement amount in a movement direction of the movable body that is moved via the operation unit by a user operation.

9. The operation input device according to claim 8, wherein The operation amount detection unit is a magnetic sensor that detects the position of the magnet of the movable body.

10. The operation input device according to claim 1, wherein The actuator operates the movable body in multiple stages in a moving direction according to an operation amount of the movable body based on an operation by the user, thereby providing an operational feeling to the user.

11. The operation input device according to claim 1, wherein The actuator operates the movable body by supplying a current that is variable according to the amount of operation by the user, thereby changing and imparting the hardness and softness of the tactile feeling as the operational feeling to the user.

12. The operation input device according to claim 1, wherein The actuator performs the operation of the movable body by supplying a current that is variable according to the amount of operation by the user, applies a reaction force to the movable body, and presents a tactile feeling of compression to the user as the operational feeling by reducing the current at a stage exceeding a threshold or flowing the current in the opposite direction.

13. The operation input device according to any one of claims 1 to 12, characterized in that: A motion detection unit is provided to detect the motion of the user. The actuator operates the movable body to present an operation position of the operation portion to the user or to facilitate operation based on the user's behavior detected by the behavior detection unit.

14. An operation input device, characterized in that: have: An actuator having a movable body connected via a protruding portion to an operating portion that is pressed by a user, and a fixed body that has the operating portion disposed on the outside and houses the movable body therein, wherein the movable body is electromagnetically driven to move within the fixed body in response to the pressing operation, thereby providing the user with an operational feeling; and A buffer member is disposed between the movable body and the fixed body.

15. The operation input device according to claim 14, wherein The buffer member is provided at a portion of the fixed body facing the operating portion, the portion facing the operating portion, at a front position in a pressing direction relative to the operating portion.

16. The operation input device according to claim 14, wherein The buffer member is provided at a portion of the operating portion facing the fixed body, the portion being rearward of the fixed body in a pressing direction.

17. The operation input device according to claim 14, wherein: The buffer member is provided at a portion of the fixed body facing the movable body, the portion facing the movable body, at a front position relative to the movable body in a pressing direction.

18. The operation input device according to claim 14, wherein The buffer member is provided at a portion of the movable body facing the fixed body, the portion being rearward of the fixed body in a pressing direction.

19. The operation input device according to claim 14, wherein The buffer member is provided at a portion of the fixed body facing the movable body, the portion facing the movable body, at a rearward position relative to the movable body in a pressing direction.

20. The operation input device according to claim 14, wherein The buffer member is provided at a portion of the movable body facing the fixed body, the portion facing the fixed body, at a front position relative to the fixed body in a pressing direction.

21. The operation input device according to claim 14, wherein The fixed body has a cylindrical body having an inner peripheral surface surrounding the outer periphery of the movable body. The buffer member is provided on the cylindrical body at a front position and / or rear position relative to the movable body in a pressing direction so as to protrude inward from the inner peripheral surface and face the movable body.

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